Massive upgrade and shift of files

TeamCode/src/main/java/nbRedAutoV1/Java.java

@@ -1,8 +0,0 @@
-package nbRedAutoV1;
-
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-public class Java {
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CometBotDevAuto.java

@@ -0,0 +1,24 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.cometbots.CometBotAutoDevelopment;
+
+@TeleOp(name = "CometBot Auto", group = "Development")
+public class CometBotDevAuto extends OpMode {
+
+    public CometBotAutoDevelopment runMode;
+
+    @Override
+    public void init() {
+        this.runMode = new CometBotAutoDevelopment(hardwareMap, telemetry, gamepad1, gamepad2);
+        this.runMode.init();
+    }
+
+    @Override
+    public void loop() {
+        this.runMode.update();
+        telemetry.update();
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroConstants.java

@@ -23,6 +23,11 @@ public class PedroConstants {
     public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
     public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
 
+    /*
+        Motor Max Power
+    */
+    public static final double MAX_POWER = .75;
+
     // Robot IMU configuration
     public static final String IMU = "imu";
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/BluenbAutov1.java

@@ -1,4 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots;
-
-public class BluenbAutov1 {
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/CometBotAutoDevelopment.java

@@ -0,0 +1,122 @@
+package org.firstinspires.ftc.teamcode.cometbots;
+
+import static org.firstinspires.ftc.teamcode.PedroConstants.MAX_POWER;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.SequentialAction;
+import com.acmerobotics.roadrunner.SleepAction;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.hardware.Gamepad;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+import org.firstinspires.ftc.teamcode.states.FieldStates;
+import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
+
+public class CometBotAutoDevelopment {
+
+    /*
+    Subsystems
+     */
+    private MotorsSubsystem motors;
+
+    /*
+    Controllers
+     */
+    public Gamepad GP1;
+    public Gamepad GP2;
+    public Gamepad currentGP1;
+    public Gamepad previousGP1;
+    public Gamepad currentGP2;
+    public Gamepad previousGP2;
+    private Telemetry telemetry;
+    public FieldStates fieldStates;
+
+    private Follower follower;
+    private HardwareMap hardwareMap;
+    private double currentPower = MAX_POWER;
+
+    public CometBotAutoDevelopment(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
+        this.motors = new MotorsSubsystem(hardwareMap, telemetry);
+        this.GP1 = gp1;
+        this.GP2 = gp2;
+        this.hardwareMap = hardwareMap;
+        this.telemetry = telemetry;
+        this.currentGP1 = new Gamepad();
+        this.currentGP2 = new Gamepad();
+        this.previousGP1 = new Gamepad();
+        this.previousGP2 = new Gamepad();
+        this.fieldStates = new FieldStates();
+        this.follower = new Follower(hardwareMap);
+    }
+
+    public class ZeroOutPower implements Action {
+
+        @Override
+        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+            follower = new Follower(hardwareMap);
+            follower.setMaxPower(0);
+            System.out.println("Running ZeroOutPower");
+            return follower.isBusy();
+        }
+    }
+
+    public class ReturnToMaxPower implements Action {
+
+        @Override
+        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+            follower = new Follower(hardwareMap);
+            follower.setMaxPower(MAX_POWER);
+            follower.startTeleopDrive();
+            System.out.println("Running ReturnToMaxPower");
+            return follower.isBusy();
+        }
+    }
+
+    public Action zeroOutPower() {
+        return new ZeroOutPower();
+    }
+
+    public Action returnToMaxPower() {
+        return new ReturnToMaxPower();
+    }
+
+    public void init() {
+        this.motors.init();
+        this.fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
+        follower.setMaxPower(MAX_POWER);
+        follower.startTeleopDrive();
+    }
+
+    public void update() {
+        this.previousGP1.copy(currentGP1);
+        this.currentGP1.copy(this.GP1);
+        this.previousGP2.copy(currentGP2);
+        this.currentGP2.copy(this.GP2);
+
+        this.toFixMotorBlockingIssuer();
+
+        follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x, false);
+        follower.update();
+        this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
+        this.telemetry.addData("Current Power", currentPower);
+    }
+
+    public void toFixMotorBlockingIssuer() {
+        if (this.currentGP1.cross && !this.previousGP1.cross) {
+            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
+            Actions.runBlocking(new SequentialAction(
+                    new SleepAction(2.5),
+                    this.zeroOutPower(),
+                    new SleepAction(2.5),
+                    this.returnToMaxPower(),
+                    new SleepAction(2.5)
+            ));
+            fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AsherPathV1.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.projects;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExample.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.projects;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExampleFour.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.projects;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExampleSeason2025V1.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.projects;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExampleThree.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.projects;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoExampleTwo.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.projects;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoTest.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.cometbots.projects;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BasicOmniOpMode_Linear.java

@@ -27,7 +27,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.projects;
 
 import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
 import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BlueAuto.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.cometbots.projects;
 
 
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BlueBasketAuto.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.projects;
 
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.acmerobotics.dashboard.FtcDashboard;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BluebAutoV1.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.projects;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BluenbAutov1.java

@@ -0,0 +1,4 @@
+package org.firstinspires.ftc.teamcode.cometbots.projects;
+
+public class BluenbAutov1 {
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/GeneratedPath.java

@@ -1,3 +1,5 @@
+package org.firstinspires.ftc.teamcode.cometbots.projects;
+
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/RedAuto.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.cometbots.projects;
 
 
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/SensorBNO055IMU.java

@@ -27,11 +27,10 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.cometbots.projects;
 
 import com.qualcomm.hardware.bosch.BNO055IMU;
 import com.qualcomm.hardware.bosch.JustLoggingAccelerationIntegrator;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/SensorBNO055IMUCalibration.java

@@ -27,10 +27,9 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.cometbots.projects;
 
 import com.qualcomm.hardware.bosch.BNO055IMU;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.util.ReadWriteFile;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/SensorIMUOrthogonal.java

@@ -27,7 +27,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.projects;
 
 import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
 import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/bBlueAutoV1.java

@@ -1,15 +1,16 @@
+package org.firstinspires.ftc.teamcode.cometbots.projects;
+
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
 import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Path;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
 
-@Autonomous(name = "bBlueAutoV1", group = "V1")
+@Autonomous(name = "org.firstinspires.ftc.teamcode.cometbots.projects.bBlueAutoV1", group = "V1")
 public class bBlueAutoV1 extends OpMode {
 
     public Telemetry telemetry;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/bRedAutoV1.java

@@ -1,4 +1,4 @@
-package nbRedAutoV1;
+package org.firstinspires.ftc.teamcode.cometbots.projects;
 
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/states/FieldStates.java

@@ -0,0 +1,18 @@
+package org.firstinspires.ftc.teamcode.states;
+
+public class FieldStates {
+
+    public enum FieldLocation {
+        BUCKET, SUBMARINE, FLOATING, TRAVELING
+    }
+
+    private FieldLocation fieldLocation;
+
+    public FieldLocation getFieldLocation() {
+        return fieldLocation;
+    }
+
+    public void setFieldLocation(FieldLocation fieldLocation) {
+        this.fieldLocation = fieldLocation;
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/MotorsSubsystem.java

@@ -0,0 +1,105 @@
+package org.firstinspires.ftc.teamcode.subsystem;
+
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
+import static org.firstinspires.ftc.teamcode.PedroConstants.MAX_POWER;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.Gamepad;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+
+public class MotorsSubsystem {
+
+    public HardwareMap hardwareMap;
+    public Telemetry telemetry;
+
+    public DcMotor frontLeftMotor;
+    public DcMotor backLeftMotor;
+    public DcMotor frontRightMotor;
+    public DcMotor backRightMotor;
+
+    public enum TravelState {
+        STOPPED, MOVING
+    }
+
+    public TravelState travelState;
+
+    public double power;
+
+    public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
+        this.hardwareMap = hardwareMap;
+        this.telemetry = telemetry;
+        this.power = MAX_POWER;
+    }
+
+    public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry, double power) {
+        this.hardwareMap = hardwareMap;
+        this.telemetry = telemetry;
+        this.power = power;
+    }
+
+    public void init() {
+        frontLeftMotor = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
+        backLeftMotor = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
+        frontRightMotor = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
+        backRightMotor = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
+
+        frontLeftMotor.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
+        backLeftMotor.setDirection(BACK_LEFT_MOTOR_DIRECTION);
+        frontRightMotor.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
+        backRightMotor.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
+
+        frontLeftMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        backLeftMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        frontRightMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        backRightMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        this.setState(TravelState.STOPPED);
+    }
+
+    public void setFrontLeftMotorPower(double power) {
+        frontLeftMotor.setPower(power);
+    }
+
+    public void setBackLeftMotorPower(double power) {
+        backLeftMotor.setPower(power);
+    }
+
+    public void setFrontRightMotorPower(double power) {
+        frontRightMotor.setPower(power);
+    }
+
+    public void setBackRightMotorPower(double power) {
+        backRightMotor.setPower(power);
+    }
+
+
+    public void setState(TravelState travelState) {
+        this.travelState = travelState;
+    }
+
+    public TravelState getState() {
+        return this.travelState;
+    }
+
+    public void setPower(DcMotor motor, double power) {
+        motor.setPower(power);
+        if (power < 0.05) {
+            this.setState(TravelState.MOVING);
+        } else {
+            this.setState(TravelState.STOPPED);
+        }
+    }
+}

build.dependencies.gradle

@@ -16,6 +16,9 @@ dependencies {
     implementation 'org.firstinspires.ftc:Vision:10.1.0'
     implementation 'androidx.appcompat:appcompat:1.2.0'
 
-    implementation 'com.acmerobotics.dashboard:dashboard:0.4.5'
+    implementation "com.acmerobotics.roadrunner:ftc:0.1.14"
+    implementation "com.acmerobotics.roadrunner:core:1.0.0"
+    implementation "com.acmerobotics.roadrunner:actions:1.0.0"
+    implementation "com.acmerobotics.dashboard:dashboard:0.4.16"
 }