WIP bobito tunings

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

@@ -0,0 +1,122 @@
+package org.firstinspires.ftc.teamcode;
+
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
+
+/**
+ * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
+ * a circle, but some Bezier curves that have control points set essentially in a square. However,
+ * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
+ * heading is to be expected.
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @author Aaron Yang - 10158 Scott's Bots
+ * @author Harrison Womack - 10158 Scott's Bots
+ * @version 1.0, 3/12/2024
+ */
+@Config
+@Autonomous(name = "AutoExample", group = "Autonomous Pathing Tuning")
+public class AutoExample extends OpMode {
+    private Telemetry telemetryA;
+
+    private Follower follower;
+
+    private PathChain path;
+
+    private final Pose startPose = new Pose(12.0, 11, 90);
+
+    /**
+     * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
+     * initializes the FTC Dashboard telemetry.
+     */
+    @Override
+    public void init() {
+        follower = new Follower(hardwareMap);
+
+        follower.setMaxPower(.6);
+
+        follower.setStartingPose(startPose);
+
+        path = follower.pathBuilder()
+                .addPath(
+                        // Line 1
+                        new BezierLine(
+                                new Point(12.804, 11.223, Point.CARTESIAN),
+                                new Point(12.804, 42.362, Point.CARTESIAN)
+                        )
+                )
+                .setTangentHeadingInterpolation()
+                .addPath(
+                        // Line 2
+                        new BezierCurve(
+                                new Point(12.804, 42.362, Point.CARTESIAN),
+                                new Point(11.381, 57.379, Point.CARTESIAN),
+                                new Point(31.614, 56.588, Point.CARTESIAN)
+                        )
+                )
+                .setTangentHeadingInterpolation()
+                .addPath(
+                        // Line 3
+                        new BezierLine(
+                                new Point(31.614, 56.588, Point.CARTESIAN),
+                                new Point(51.214, 56.746, Point.CARTESIAN)
+                        )
+                )
+                .setTangentHeadingInterpolation()
+                .addPath(
+                        // Line 4
+                        new BezierCurve(
+                                new Point(51.214, 56.746, Point.CARTESIAN),
+                                new Point(64.334, 58.643, Point.CARTESIAN),
+                                new Point(61.172, 45.524, Point.CARTESIAN)
+                        )
+                )
+                .setTangentHeadingInterpolation()
+                .addPath(
+                        // Line 5
+                        new BezierCurve(
+                                new Point(61.172, 45.524, Point.CARTESIAN),
+                                new Point(36.198, 26.239, Point.CARTESIAN),
+                                new Point(19.759, 11.065, Point.CARTESIAN)
+                        )
+                )
+                .setTangentHeadingInterpolation()
+                .build();
+
+        follower.followPath(path);
+
+        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+        telemetryA.update();
+    }
+
+    /**
+     * This runs the OpMode, updating the Follower as well as printing out the debug statements to
+     * the Telemetry, as well as the FTC Dashboard.
+     */
+    @Override
+    public void loop() {
+        follower.update();
+        if (follower.atParametricEnd()) {
+            follower.followPath(path);
+        }
+        follower.telemetryDebug(telemetryA);
+    }
+}

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

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -9,7 +9,6 @@ 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.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
@@ -26,15 +25,15 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
-@Autonomous(name = "BlueNonBasketAuto", group = "Autonomous Pathing Tuning")
+@Autonomous(name = "AutoExampleSeason2025V1", group = "Autonomous Pathing Tuning")
-public class BlueNonBasketAuto extends OpMode {
+public class AutoExampleSeason2025V1 extends OpMode {
     private Telemetry telemetryA;
 
     private Follower follower;
 
     private PathChain path;
 
-    private final Pose startPose = new Pose(10.929, 55.446, 0);
+    private final Pose startPose = new Pose(15.0, 35, 90);
 
     /**
      * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
@@ -44,93 +43,85 @@ public class BlueNonBasketAuto extends OpMode {
     public void init() {
         follower = new Follower(hardwareMap);
 
-        follower.setMaxPower(.45);
+        follower.setMaxPower(.375);
 
         follower.setStartingPose(startPose);
 
         path = follower.pathBuilder()
                 .addPath(
-                // Line 1
+                        // Line 1
-                new BezierCurve(
+                        new BezierLine(
-                        new Point(10.929, 55.446, Point.CARTESIAN),
+                                new Point(15.000, 35.000, Point.CARTESIAN),
-                        new Point(42.429, 46.446, Point.CARTESIAN),
+                                new Point(60.000, 35.000, Point.CARTESIAN)
-                        new Point(36.321, 38.089, Point.CARTESIAN)
+                        )
                 )
-        )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 2
                         new BezierLine(
-                                new Point(36.321, 38.089, Point.CARTESIAN),
+                                new Point(60.000, 35.000, Point.CARTESIAN),
-                                new Point(59.786, 36.643, Point.CARTESIAN)
+                                new Point(60.000, 25.000, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .setConstantHeadingInterpolation(Math.toRadians(90))
                 .addPath(
                         // Line 3
                         new BezierLine(
-                                new Point(59.786, 36.643, Point.CARTESIAN),
+                                new Point(60.000, 25.000, Point.CARTESIAN),
-                                new Point(59.304, 24.750, Point.CARTESIAN)
+                                new Point(15.000, 25.000, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .setConstantHeadingInterpolation(Math.toRadians(90))
                 .addPath(
                         // Line 4
                         new BezierLine(
-                                new Point(59.304, 24.750, Point.CARTESIAN),
+                                new Point(15.000, 25.000, Point.CARTESIAN),
-                                new Point(13.982, 23.946, Point.CARTESIAN)
+                                new Point(60.000, 25.000, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .setConstantHeadingInterpolation(Math.toRadians(90))
                 .addPath(
                         // Line 5
                         new BezierLine(
-                                new Point(13.982, 23.946, Point.CARTESIAN),
+                                new Point(60.000, 25.000, Point.CARTESIAN),
-                                new Point(59.464, 24.429, Point.CARTESIAN)
+                                new Point(60.000, 15.000, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .setConstantHeadingInterpolation(Math.toRadians(90))
                 .addPath(
                         // Line 6
                         new BezierLine(
-                                new Point(59.464, 24.429, Point.CARTESIAN),
+                                new Point(60.000, 15.000, Point.CARTESIAN),
-                                new Point(58.982, 15.268, Point.CARTESIAN)
+                                new Point(15.000, 15.000, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .setConstantHeadingInterpolation(Math.toRadians(90))
                 .addPath(
                         // Line 7
                         new BezierLine(
-                                new Point(58.982, 15.268, Point.CARTESIAN),
+                                new Point(15.000, 15.000, Point.CARTESIAN),
-                                new Point(13.821, 14.464, Point.CARTESIAN)
+                                new Point(60.000, 15.000, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .setConstantHeadingInterpolation(Math.toRadians(90))
                 .addPath(
                         // Line 8
                         new BezierLine(
-                                new Point(13.821, 14.464, Point.CARTESIAN),
+                                new Point(60.000, 15.000, Point.CARTESIAN),
-                                new Point(58.661, 13.500, Point.CARTESIAN)
+                                new Point(60.000, 8.000, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .setConstantHeadingInterpolation(Math.toRadians(90))
                 .addPath(
                         // Line 9
                         new BezierLine(
-                                new Point(58.661, 13.500, Point.CARTESIAN),
+                                new Point(60.000, 8.000, Point.CARTESIAN),
-                                new Point(58.339, 8.679, Point.CARTESIAN)
+                                new Point(15.000, 8.000, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .setConstantHeadingInterpolation(Math.toRadians(90)).build();
-                .addPath(
+
-                        // Line 10
+        follower.followPath(path);
-                        new BezierLine(
-                                new Point(58.339, 8.679, Point.CARTESIAN),
-                                new Point(14.625, 8.518, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0)).build();
-        follower.followPath(path, true);
 
         telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
         telemetryA.update();
@@ -144,7 +135,7 @@ public class BlueNonBasketAuto extends OpMode {
     public void loop() {
         follower.update();
         if (follower.atParametricEnd()) {
-            follower.followPath(path, true);
+            follower.followPath(path);
         }
         follower.telemetryDebug(telemetryA);
     }

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

@@ -0,0 +1,80 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+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.localization.Pose;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
+
+/**
+ * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
+ * a circle, but some Bezier curves that have control points set essentially in a square. However,
+ * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
+ * heading is to be expected.
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @author Aaron Yang - 10158 Scott's Bots
+ * @author Harrison Womack - 10158 Scott's Bots
+ * @version 1.0, 3/12/2024
+ */
+@Config
+@Autonomous(name = "AutoExampleThree", group = "Autonomous Pathing Tuning")
+public class AutoExampleThree extends OpMode {
+    private Telemetry telemetryA;
+
+    private Follower follower;
+
+    private PathChain path;
+
+    private final Pose startPose = new Pose(10.0, 40, 90);
+
+    /**
+     * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
+     * initializes the FTC Dashboard telemetry.
+     */
+    @Override
+    public void init() {
+        follower = new Follower(hardwareMap);
+
+        follower.setMaxPower(.4);
+
+        follower.setStartingPose(startPose);
+
+        path = follower.pathBuilder()
+                .addPath(
+                        // Line 1
+                        new BezierCurve(
+                                new Point(10.000, 20.000, Point.CARTESIAN),
+                                new Point(29.089, 61.232, Point.CARTESIAN),
+                                new Point(48.054, 19.607, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90)).build();
+
+        follower.followPath(path);
+
+        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+        telemetryA.update();
+    }
+
+    /**
+     * This runs the OpMode, updating the Follower as well as printing out the debug statements to
+     * the Telemetry, as well as the FTC Dashboard.
+     */
+    @Override
+    public void loop() {
+        follower.update();
+        if (follower.atParametricEnd()) {
+            follower.followPath(path);
+        }
+        follower.telemetryDebug(telemetryA);
+    }
+}

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

@@ -0,0 +1,95 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+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.localization.Pose;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
+
+/**
+ * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
+ * a circle, but some Bezier curves that have control points set essentially in a square. However,
+ * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
+ * heading is to be expected.
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @author Aaron Yang - 10158 Scott's Bots
+ * @author Harrison Womack - 10158 Scott's Bots
+ * @version 1.0, 3/12/2024
+ */
+@Config
+@Autonomous(name = "AutoExampleTwo", group = "Autonomous Pathing Tuning")
+public class AutoExampleTwo extends OpMode {
+    private Telemetry telemetryA;
+
+    private Follower follower;
+
+    private PathChain path;
+
+    private final Pose startPose = new Pose(10.0, 40, 90);
+
+    /**
+     * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
+     * initializes the FTC Dashboard telemetry.
+     */
+    @Override
+    public void init() {
+        follower = new Follower(hardwareMap);
+
+        follower.setMaxPower(.4);
+
+        follower.setStartingPose(startPose);
+
+        path = follower.pathBuilder()
+                .addPath(
+                        // Line 1
+                        new BezierLine(
+                                new Point(10.000, 40.000, Point.CARTESIAN),
+                                new Point(60.000, 40.000, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 2
+                        new BezierLine(
+                                new Point(60.000, 40.000, Point.CARTESIAN),
+                                new Point(60.000, 25.000, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 3
+                        new BezierLine(
+                                new Point(60.000, 25.000, Point.CARTESIAN),
+                                new Point(10.000, 25.000, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90)).build();
+
+        follower.followPath(path);
+
+        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+        telemetryA.update();
+    }
+
+    /**
+     * This runs the OpMode, updating the Follower as well as printing out the debug statements to
+     * the Telemetry, as well as the FTC Dashboard.
+     */
+    @Override
+    public void loop() {
+        follower.update();
+        if (follower.atParametricEnd()) {
+            follower.followPath(path);
+        }
+        follower.telemetryDebug(telemetryA);
+    }
+}

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

@@ -27,10 +27,8 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-package org.firstinspires.ftc.teamcode.cometbots.projects;
+package org.firstinspires.ftc.teamcode;
 
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
 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;
@@ -39,10 +37,6 @@ 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.LEFT_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER_DIRECTION;
 
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
@@ -80,12 +74,15 @@ import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
  * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
  */
 
-@TeleOp(name="Basic: Omni Linear OpMode", group="Linear OpMode")
+@TeleOp(name = "Basic: Omni Linear OpMode", group = "Linear OpMode")
 public class BasicOmniOpMode_Linear extends LinearOpMode {
 
     // Declare OpMode members for each of the 4 motors.
     private final ElapsedTime runtime = new ElapsedTime();
-
+    private Encoder leftFront;
+    private Encoder rightFront;
+    private Encoder leftRear;
+    private Encoder rightRear;
     @Override
     public void runOpMode() {
 
@@ -96,18 +93,12 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
         DcMotor rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
         DcMotor rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
 
+        leftFront = new Encoder(hardwareMap.get(DcMotorEx.class, FRONT_LEFT_MOTOR));
+        leftRear = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_LEFT_MOTOR));
+        rightRear = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_RIGHT_MOTOR));
+        rightFront = new Encoder(hardwareMap.get(DcMotorEx.class, FRONT_RIGHT_MOTOR));
 
 
-        // TODO: replace these with your encoder ports
-        Encoder leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
-        Encoder rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
-        Encoder strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
-
-        // TODO: reverse any encoders necessary
-        leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
-        rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
-        strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
-
         // ########################################################################################
         // !!!            IMPORTANT Drive Information. Test your motor directions.            !!!!!
         // ########################################################################################
@@ -123,11 +114,20 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
         rightFrontDrive.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
         rightBackDrive.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
 
+        leftFrontDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        leftBackDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        rightFrontDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        rightBackDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+
+        leftFrontDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        leftBackDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        rightFrontDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        rightBackDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+
+
         // Wait for the game to start (driver presses START)
         telemetry.addData("Status", "Initialized");
-        telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
-        telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
-        telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
         telemetry.update();
 
         waitForStart();
@@ -138,16 +138,16 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
             double max;
 
             // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
-            double axial   = -gamepad1.left_stick_y;  // Note: pushing stick forward gives negative value
+            double axial = -gamepad1.left_stick_y;  // Note: pushing stick forward gives negative value
-            double lateral =  gamepad1.left_stick_x;
+            double lateral = gamepad1.left_stick_x;
-            double yaw     =  gamepad1.right_stick_x;
+            double yaw = gamepad1.right_stick_x;
 
             // Combine the joystick requests for each axis-motion to determine each wheel's power.
             // Set up a variable for each drive wheel to save the power level for telemetry.
-            double leftFrontPower  = axial + lateral + yaw;
+            double leftFrontPower = axial + lateral + yaw;
             double rightFrontPower = axial - lateral - yaw;
-            double leftBackPower   = axial - lateral + yaw;
+            double leftBackPower = axial - lateral + yaw;
-            double rightBackPower  = axial + lateral - yaw;
+            double rightBackPower = axial + lateral - yaw;
 
             // Normalize the values so no wheel power exceeds 100%
             // This ensures that the robot maintains the desired motion.
@@ -156,10 +156,10 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
             max = Math.max(max, Math.abs(rightBackPower));
 
             if (max > 1.0) {
-                leftFrontPower  /= max;
+                leftFrontPower /= max;
                 rightFrontPower /= max;
-                leftBackPower   /= max;
+                leftBackPower /= max;
-                rightBackPower  /= max;
+                rightBackPower /= max;
             }
 
             // This is test code:
@@ -186,12 +186,14 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
             rightBackDrive.setPower(rightBackPower);
 
             // Show the elapsed game time and wheel power.
-            telemetry.addData("Status", "Run Time: " + runtime.toString());
+            telemetry.addData("Status", "Run Time: " + runtime);
             telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
             telemetry.addData("Back  left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
-            telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
+            telemetry.addData("Encoder Front Left", leftFrontDrive.getDirection() + " : " + leftFrontDrive.getCurrentPosition());
-            telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
+            telemetry.addData("Encoder Front Right", rightFrontDrive.getCurrentPosition());
-            telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
+            telemetry.addData("Encoder Back Left", leftBackDrive.getCurrentPosition());
+            telemetry.addData("Encoder Back Right", rightBackDrive.getCurrentPosition());
             telemetry.update();
         }
-    }}
+    }
+}

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

@@ -0,0 +1,247 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+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.localization.Pose;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
+
+/**
+ * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
+ * a circle, but some Bezier curves that have control points set essentially in a square. However,
+ * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
+ * heading is to be expected.
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @author Aaron Yang - 10158 Scott's Bots
+ * @author Harrison Womack - 10158 Scott's Bots
+ * @version 1.0, 3/12/2024
+ */
+@Config
+@Autonomous(name = "BluebAutoV1", group = "Autonomous Pathing Tuning")
+public class BluebAutoV1 extends OpMode {
+    private Telemetry telemetryA;
+
+    private Follower follower;
+
+    private PathChain path;
+
+    private final Pose startPose = new Pose(7.5, 72, 90);
+
+    /**
+     * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
+     * initializes the FTC Dashboard telemetry.
+     */
+    @Override
+    public void init() {
+        follower = new Follower(hardwareMap);
+
+        follower.setMaxPower(.4);
+
+        follower.setStartingPose(startPose);
+
+        path = follower.pathBuilder()
+                .addPath(
+                        // Line 1
+                        new BezierLine(
+                                new Point(7.5, 72, Point.CARTESIAN),
+                                new Point(29.893, 38.250, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 2
+                        new BezierLine(
+                                new Point(29.893, 38.250, Point.CARTESIAN),
+                                new Point(65.250, 32.143, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 3
+                        new BezierLine(
+                                new Point(65.250, 32.143, Point.CARTESIAN),
+                                new Point(61.714, 24.429, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 4
+                        new BezierLine(
+                                new Point(61.714, 24.429, Point.CARTESIAN),
+                                new Point(13.821, 22.821, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 5
+                        new BezierLine(
+                                new Point(13.821, 22.821, Point.CARTESIAN),
+                                new Point(61.714, 24.429, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 6
+                        new BezierLine(
+                                new Point(61.714, 24.429, Point.CARTESIAN),
+                                new Point(60.750, 12.696, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 7
+                        new BezierLine(
+                                new Point(60.750, 12.696, Point.CARTESIAN),
+                                new Point(12.375, 13.179, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 8
+                        new BezierLine(
+                                new Point(12.375, 13.179, Point.CARTESIAN),
+                                new Point(60.750, 12.536, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 9
+                        new BezierLine(
+                                new Point(60.750, 12.536, Point.CARTESIAN),
+                                new Point(60.589, 9.321, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 10
+                        new BezierLine(
+                                new Point(60.589, 9.321, Point.CARTESIAN),
+                                new Point(12.536, 8.357, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 11
+                        new BezierLine(
+                                new Point(12.536, 8.357, Point.CARTESIAN),
+                                new Point(26.679, 8.679, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 12
+                        new BezierLine(
+                                new Point(26.679, 8.679, Point.CARTESIAN),
+                                new Point(22.821, 109.446, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 13
+                        new BezierLine(
+                                new Point(22.821, 109.446, Point.CARTESIAN),
+                                new Point(70.714, 109.446, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 14
+                        new BezierLine(
+                                new Point(70.714, 109.446, Point.CARTESIAN),
+                                new Point(71.036, 120.214, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 15
+                        new BezierLine(
+                                new Point(71.036, 120.214, Point.CARTESIAN),
+                                new Point(22.179, 120.214, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 16
+                        new BezierLine(
+                                new Point(22.179, 120.214, Point.CARTESIAN),
+                                new Point(11.089, 130.821, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 17
+                        new BezierLine(
+                                new Point(11.089, 130.821, Point.CARTESIAN),
+                                new Point(70.714, 112.018, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 18
+                        new BezierLine(
+                                new Point(70.714, 112.018, Point.CARTESIAN),
+                                new Point(70.714, 128.250, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 19
+                        new BezierLine(
+                                new Point(70.714, 128.250, Point.CARTESIAN),
+                                new Point(9.964, 130.018, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 20
+                        new BezierLine(
+                                new Point(9.964, 130.018, Point.CARTESIAN),
+                                new Point(70.554, 130.500, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 21
+                        new BezierLine(
+                                new Point(70.554, 130.500, Point.CARTESIAN),
+                                new Point(70.393, 135.000, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 22
+                        new BezierLine(
+                                new Point(70.393, 135.000, Point.CARTESIAN),
+                                new Point(13.821, 134.839, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90)).build();
+
+        follower.followPath(path);
+        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+        telemetryA.update();
+
+    }
+
+    /**
+     * This runs the OpMode, updating the Follower as well as printing out the debug statements to
+     * the Telemetry, as well as the FTC Dashboard.
+     */
+    @Override
+    public void loop() {
+        follower.update();
+        if (follower.atParametricEnd()) {
+            follower.followPath(path);
+        }
+        follower.telemetryDebug(telemetryA);
+    }
+}

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

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

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

@@ -1,24 +0,0 @@
-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/NetAuto.java

@@ -1,64 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.SleepAction;
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.subsystem.AutoLine1;
-import org.firstinspires.ftc.teamcode.subsystem.AutoLine2;
-import org.firstinspires.ftc.teamcode.subsystem.AutoLine3;
-
-@Autonomous(name = "BlueNetAuto", group = "Dev")
-public class NetAuto extends OpMode {
-
-    public Follower follower;
-
-    public AutoLine1 myFirstPath = new AutoLine1();
-    public AutoLine2 mySecondPath = new AutoLine2();
-    public int pathState = 0;
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-        follower.setMaxPower(0.65);
-        myFirstPath.moveToAutoLine1(follower);
-    }
-
-    @Override
-    public void loop() {
-        follower.update();
-        switch(pathState) {
-            case 0:
-                if (!follower.isBusy()) {
-                    pathState = 1;
-                    mySecondPath.moveToAutoLine2(follower);
-                }
-            case 1:
-                if (!follower.isBusy()) {
-                    System.out.println("Finished");
-                }
-        }
-//        switch(pathState) {
-//            case 0:
-//                if (!follower.isBusy()) {
-//                    mySecondPath.moveToAutoLine2(follower);
-//                    pathState = 1;
-//                }
-//            case 1:
-//                if (!follower.isBusy()) {
-//                    pathState = 2;
-//                }
-//            case 2:
-//                // set path 3
-//                // as if busy, if not, set path 4 and so on.
-//                System.out.print("we're at the end");
-//
-//        }
-
-
-
-        follower.telemetryDebug(telemetry);
-    }
-}

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

@@ -12,71 +12,46 @@ public class PedroConstants {
     */
 
     // Robot motor configurations
-    public static final String FRONT_LEFT_MOTOR = "front-left";
+    public static final String FRONT_LEFT_MOTOR = "Drive front lt";
-    public static final String BACK_LEFT_MOTOR = "back-left";
+    public static final String BACK_LEFT_MOTOR  = "Drive back lt";
-    public static final String FRONT_RIGHT_MOTOR = "front-right";
+    public static final String FRONT_RIGHT_MOTOR  = "Drive front rt";
-    public static final String BACK_RIGHT_MOTOR = "back-right";
+    public static final String BACK_RIGHT_MOTOR  = "Drive back rt";
 
     // Robot motor direction
     public static final Direction FRONT_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
     public static final Direction BACK_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
-    public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
+    public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.REVERSE;
-    public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
+    public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.REVERSE;
-
-    /*
-        Motor Max Power
-    */
-    public static final double MAX_POWER = .75;
-
-    // Robot IMU configuration
-    public static final String IMU = "imu";
-
-    // Robot IMU placement
-    public static final RevHubOrientationOnRobot.LogoFacingDirection IMU_LOGO_FACING_DIRECTION
-            = RevHubOrientationOnRobot.LogoFacingDirection.LEFT;
-    public static final RevHubOrientationOnRobot.UsbFacingDirection IMU_USB_FACING_DIRECTION
-            = RevHubOrientationOnRobot.UsbFacingDirection.UP;
-
-    // Robot encoders
-    // NOTE:  Encoders are plugged into the same ports as motors hence the weird names
-    public static final String RIGHT_ENCODER = "front-left"; //2
-    public static final String BACK_ENCODER = "front-right"; //1
-    public static final String LEFT_ENCODER = "back-right"; //0
 
     // Robot encoder direction
-    public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;
+    public static final double FRONT_LEFT_MOTOR_ENCODER = Encoder.FORWARD;
-    public static final double RIGHT_ENCODER_DIRECTION = Encoder.REVERSE;
+    public static final double BACK_LEFT_MOTOR_ENCODER = Encoder.FORWARD;
-    public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD;
+    public static final double FRONT_RIGHT_MOTOR_ENCODER = Encoder.FORWARD;
-
+    public static final double BACK_RIGHT_MOTOR_ENCODER = Encoder.FORWARD;
-    // Arm config
-    public static final String SLIDE_MOTOR = "SlideMotor";
-    public static final String Claw_Servo = "ClawServo";
-    public static final String Wrist_Servo = "WristServo";
-    public static final String Arm_Servo = "ArmServo";
 
     /*
         Pedro's parameters
     */
 
     // The weight of the robot in Kilograms
-    public static final double ROBOT_WEIGHT_IN_KG = 9;
+    public static final double ROBOT_WEIGHT_IN_KG = 5.15;
 
     // Maximum velocity of the robot going forward
-    public static final double ROBOT_SPEED_FORWARD = 51.5;
+    public static final double ROBOT_SPEED_FORWARD = 66.6117;
 
     // Maximum velocity of the robot going right
-    public static final double ROBOT_SPEED_LATERAL = 28.7;
+    public static final double ROBOT_SPEED_LATERAL = 60.0671;
 
     // Rate of deceleration when power is cut-off when the robot is moving forward
-    public static final double FORWARD_ZERO_POWER_ACCEL = -59.8;
+    public static final double FORWARD_ZERO_POWER_ACCEL = -71.154;
 
     // Rate of deceleration when power is cut-off when the robot is moving to the right
-    public static final double LATERAL_ZERO_POWER_ACCEL = -99.7;
+    public static final double LATERAL_ZERO_POWER_ACCEL = -109.5358;
 
     // Determines how fast your robot will decelerate as a factor of how fast your robot will coast to a stop
-    public static final double ZERO_POWER_ACCEL_MULT = 3.5;
+    public static final double ZERO_POWER_ACCEL_MULT = 4.0;
 
     /* Centripetal force correction - increase if robot is correcting into the path
                                     - decrease if robot is correcting away from the path */
-    public static final double CENTRIPETAL_SCALING = 0.0004;
+    public static final double CENTRIPETAL_SCALING = 0.0005;
 }

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

@@ -1,122 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-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.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-@Autonomous(name = "Pre Loaded Blue Basket Auto", group = "Competition")
-public class PreLoadedBlueBasketAuto extends OpMode {
-    private Telemetry telemetryA;
-
-    private Follower follower;
-
-    private PathChain path;
-
-    private final Pose startPose = new Pose(7.875, 89.357);
-
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-
-        follower.setMaxPower(.45);
-
-        follower.setStartingPose(startPose);
-
-        path = follower.pathBuilder()
-                .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(8.036, 89.196, Point.CARTESIAN),
-                                new Point(10.125, 126.804, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 2
-                        new BezierCurve(
-                                new Point(10.125, 126.804, Point.CARTESIAN),
-                                new Point(37.607, 90.000, Point.CARTESIAN),
-                                new Point(62.357, 119.893, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 3
-                        new BezierCurve(
-                                new Point(62.357, 119.893, Point.CARTESIAN),
-                                new Point(33.750, 112.500, Point.CARTESIAN),
-                                new Point(15.107, 130.661, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 4
-                        new BezierCurve(
-                                new Point(15.107, 130.661, Point.CARTESIAN),
-                                new Point(58.821, 103.018, Point.CARTESIAN),
-                                new Point(59.625, 126.964, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 5
-                        new BezierLine(
-                                new Point(59.625, 126.964, Point.CARTESIAN),
-                                new Point(15.107, 130.339, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 6
-                        new BezierLine(
-                                new Point(15.107, 130.339, Point.CARTESIAN),
-                                new Point(59.625, 126.964, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 7
-                        new BezierLine(
-                                new Point(59.625, 126.964, Point.CARTESIAN),
-                                new Point(57.857, 133.071, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 8
-                        new BezierLine(
-                                new Point(57.857, 133.071, Point.CARTESIAN),
-                                new Point(18.964, 134.679, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 9
-                        new BezierCurve(
-                                new Point(18.964, 134.679, Point.CARTESIAN),
-                                new Point(84.536, 131.786, Point.CARTESIAN),
-                                new Point(80.036, 96.429, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270)).build();
-        follower.followPath(path);
-
-        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
-        telemetryA.update();
-    }
-
-    @Override
-    public void loop() {
-        follower.update();
-        follower.telemetryDebug(telemetryA);
-    }
-}

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

@@ -1,142 +0,0 @@
-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 boolean centricity = false;
-
-    private Follower follower;
-    private HardwareMap hardwareMap;
-
-    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.toFixMotorBlockingIssueFirstMethod();
-        this.toFixMotorBlockingIssueSecondMethod();
-        this.changeCentricity();
-
-        follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x, centricity);
-        follower.update();
-        this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
-    }
-
-    public void changeCentricity() {
-        if (this.currentGP1.left_bumper && !this.previousGP1.left_bumper) {
-            this.centricity = !centricity;
-            this.follower.breakFollowing();
-            this.follower.startTeleopDrive();
-        }
-    }
-
-    public void toFixMotorBlockingIssueFirstMethod() {
-        if (this.currentGP1.cross && !this.previousGP1.cross) {
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-            Actions.runBlocking(new SequentialAction(
-                    this.zeroOutPower(),
-                    new SleepAction(3),
-                    this.returnToMaxPower()
-            ));
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-        }
-    }
-
-    public void toFixMotorBlockingIssueSecondMethod() {
-        if (this.currentGP1.circle && !this.previousGP1.circle) {
-            this.follower.breakFollowing();
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-            Actions.runBlocking(new SequentialAction(
-                    new SleepAction(3)
-            ));
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-            this.follower.startTeleopDrive();
-        }
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/PoseUpdater.java

@@ -5,9 +5,7 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.IMU;
 
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.ThreeWheelIMULocalizer;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.DriveEncoderLocalizer;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.ThreeWheelLocalizer;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.TwoWheelLocalizer;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
 
@@ -69,7 +67,7 @@ public class PoseUpdater {
      */
     public PoseUpdater(HardwareMap hardwareMap) {
         // TODO: replace the second argument with your preferred localizer
-        this(hardwareMap, new ThreeWheelLocalizer(hardwareMap));
+        this(hardwareMap, new DriveEncoderLocalizer(hardwareMap));
     }
 
     /**

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/DriveEncoderLocalizer.java

@@ -1,11 +1,20 @@
 package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
 
-import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorName;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
-import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_ENCODER;
-import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorName;
+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.BACK_RIGHT_MOTOR_ENCODER;
+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_LEFT_MOTOR_ENCODER;
+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.FRONT_RIGHT_MOTOR_ENCODER;
 
 import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
@@ -26,21 +35,21 @@ import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
  */
 @Config
 public class DriveEncoderLocalizer extends Localizer {
-    private HardwareMap hardwareMap;
+    private final HardwareMap hardwareMap;
     private Pose startPose;
     private Pose displacementPose;
     private Pose currentVelocity;
     private Matrix prevRotationMatrix;
-    private NanoTimer timer;
+    private final NanoTimer timer;
     private long deltaTimeNano;
-    private Encoder leftFront;
+    private final Encoder leftFront;
-    private Encoder rightFront;
+    private final Encoder rightFront;
-    private Encoder leftRear;
+    private final Encoder leftRear;
-    private Encoder rightRear;
+    private final Encoder rightRear;
     private double totalHeading;
-    public static double FORWARD_TICKS_TO_INCHES = 1;
+    public static double FORWARD_TICKS_TO_INCHES = -0.0058;
-    public static double STRAFE_TICKS_TO_INCHES = 1;
+    public static double STRAFE_TICKS_TO_INCHES = -0.0054;
-    public static double TURN_TICKS_TO_RADIANS = 1;
+    public static double TURN_TICKS_TO_RADIANS = -0.0009;
     public static double ROBOT_WIDTH = 1;
     public static double ROBOT_LENGTH = 1;
 
@@ -58,22 +67,32 @@ public class DriveEncoderLocalizer extends Localizer {
      * This creates a new DriveEncoderLocalizer from a HardwareMap and a Pose, with the Pose
      * specifying the starting pose of the localizer.
      *
-     * @param map the HardwareMap
+     * @param map          the HardwareMap
      * @param setStartPose the Pose to start from
      */
     public DriveEncoderLocalizer(HardwareMap map, Pose setStartPose) {
         hardwareMap = map;
 
-        leftFront = new Encoder(hardwareMap.get(DcMotorEx.class, leftFrontMotorName));
+        leftFront = new Encoder(hardwareMap.get(DcMotorEx.class, FRONT_LEFT_MOTOR));
-        leftRear = new Encoder(hardwareMap.get(DcMotorEx.class, leftRearMotorName));
+        leftRear = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_LEFT_MOTOR));
-        rightRear = new Encoder(hardwareMap.get(DcMotorEx.class, rightRearMotorName));
+        rightRear = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_RIGHT_MOTOR));
-        rightFront = new Encoder(hardwareMap.get(DcMotorEx.class, rightFrontMotorName));
+        rightFront = new Encoder(hardwareMap.get(DcMotorEx.class, FRONT_RIGHT_MOTOR));
+
+        DcMotor leftFrontDrive = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
+        DcMotor leftBackDrive = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
+        DcMotor rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
+        DcMotor rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
+
+        leftFrontDrive.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
+        leftBackDrive.setDirection(BACK_LEFT_MOTOR_DIRECTION);
+        rightFrontDrive.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
+        rightBackDrive.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
 
         // TODO: reverse any encoders necessary
-        leftFront.setDirection(Encoder.REVERSE);
+        leftFront.setDirection(FRONT_LEFT_MOTOR_ENCODER);
-        rightRear.setDirection(Encoder.REVERSE);
+        rightFront.setDirection(FRONT_RIGHT_MOTOR_ENCODER);
-        leftRear.setDirection(Encoder.FORWARD);
+        leftRear.setDirection(BACK_LEFT_MOTOR_ENCODER);
-        rightRear.setDirection(Encoder.FORWARD);
+        rightRear.setDirection(BACK_RIGHT_MOTOR_ENCODER);
 
         setStartPose(setStartPose);
         timer = new NanoTimer();
@@ -129,7 +148,7 @@ public class DriveEncoderLocalizer extends Localizer {
      * @param heading the rotation of the Matrix
      */
     public void setPrevRotationMatrix(double heading) {
-        prevRotationMatrix = new Matrix(3,3);
+        prevRotationMatrix = new Matrix(3, 3);
         prevRotationMatrix.set(0, 0, Math.cos(heading));
         prevRotationMatrix.set(0, 1, -Math.sin(heading));
         prevRotationMatrix.set(1, 0, Math.sin(heading));
@@ -164,7 +183,7 @@ public class DriveEncoderLocalizer extends Localizer {
         Matrix globalDeltas;
         setPrevRotationMatrix(getPose().getHeading());
 
-        Matrix transformation = new Matrix(3,3);
+        Matrix transformation = new Matrix(3, 3);
         if (Math.abs(robotDeltas.get(2, 0)) < 0.001) {
             transformation.set(0, 0, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
             transformation.set(0, 1, -robotDeltas.get(2, 0) / 2.0);
@@ -214,13 +233,13 @@ public class DriveEncoderLocalizer extends Localizer {
      * @return returns a Matrix containing the robot relative movement.
      */
     public Matrix getRobotDeltas() {
-        Matrix returnMatrix = new Matrix(3,1);
+        Matrix returnMatrix = new Matrix(3, 1);
         // x/forward movement
-        returnMatrix.set(0,0, FORWARD_TICKS_TO_INCHES * (leftFront.getDeltaPosition() + rightFront.getDeltaPosition() + leftRear.getDeltaPosition() + rightRear.getDeltaPosition()));
+        returnMatrix.set(0, 0, FORWARD_TICKS_TO_INCHES * (leftFront.getDeltaPosition() + rightFront.getDeltaPosition() + leftRear.getDeltaPosition() + rightRear.getDeltaPosition()));
         //y/strafe movement
-        returnMatrix.set(1,0, STRAFE_TICKS_TO_INCHES * (-leftFront.getDeltaPosition() + rightFront.getDeltaPosition() + leftRear.getDeltaPosition() - rightRear.getDeltaPosition()));
+        returnMatrix.set(1, 0, STRAFE_TICKS_TO_INCHES * (-leftFront.getDeltaPosition() + rightFront.getDeltaPosition() + leftRear.getDeltaPosition() - rightRear.getDeltaPosition()));
         // theta/turning
-        returnMatrix.set(2,0, TURN_TICKS_TO_RADIANS * ((-leftFront.getDeltaPosition() + rightFront.getDeltaPosition() - leftRear.getDeltaPosition() + rightRear.getDeltaPosition()) / (ROBOT_WIDTH + ROBOT_LENGTH)));
+        returnMatrix.set(2, 0, TURN_TICKS_TO_RADIANS * ((-leftFront.getDeltaPosition() + rightFront.getDeltaPosition() - leftRear.getDeltaPosition() + rightRear.getDeltaPosition()) / (ROBOT_WIDTH + ROBOT_LENGTH)));
         return returnMatrix;
     }
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelIMULocalizer.java

@@ -1,317 +0,0 @@
-package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
-
-import static org.firstinspires.ftc.teamcode.PedroConstants.*;
-
-import com.acmerobotics.dashboard.config.Config;
-import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.IMU;
-
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Localizer;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Matrix;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
-import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
-
-/**
- * This is the ThreeWheelIMULocalizer class. This class extends the Localizer superclass and is a
- * localizer that uses the three wheel odometry set up with the IMU to have more accurate heading
- * readings. The diagram below, which is modified from Road Runner, shows a typical set up.
- *
- * The view is from the top of the robot looking downwards.
- *
- * left on robot is the y positive direction
- *
- * forward on robot is the x positive direction
- *
- *    /--------------\
- *    |     ____     |
- *    |     ----     |
- *    | ||        || |
- *    | ||        || |  ----> left (y positive)
- *    |              |
- *    |              |
- *    \--------------/
- *           |
- *           |
- *           V
- *    forward (x positive)
- *
- * @author Logan Nash
- * @author Anyi Lin - 10158 Scott's Bots
- * @version 1.0, 7/9/2024
- */
-@Config
-public class ThreeWheelIMULocalizer extends Localizer {
-    private HardwareMap hardwareMap;
-    private Pose startPose;
-    private Pose displacementPose;
-    private Pose currentVelocity;
-    private Matrix prevRotationMatrix;
-    private NanoTimer timer;
-    private long deltaTimeNano;
-    private Encoder leftEncoder;
-    private Encoder rightEncoder;
-    private Encoder strafeEncoder;
-    private Pose leftEncoderPose;
-    private Pose rightEncoderPose;
-    private Pose strafeEncoderPose;
-
-    public final IMU imu;
-    private double previousIMUOrientation;
-    private double deltaRadians;
-    private double totalHeading;
-    public static double FORWARD_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
-    public static double STRAFE_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
-    public static double TURN_TICKS_TO_RADIANS = 0.0022;//8192 * 1.37795 * 2 * Math.PI * 0.5;
-
-    public static boolean useIMU = true;
-
-    /**
-     * This creates a new ThreeWheelIMULocalizer from a HardwareMap, with a starting Pose at (0,0)
-     * facing 0 heading.
-     *
-     * @param map the HardwareMap
-     */
-    public ThreeWheelIMULocalizer(HardwareMap map) {
-        this(map, new Pose());
-    }
-
-    /**
-     * This creates a new ThreeWheelIMULocalizer from a HardwareMap and a Pose, with the Pose
-     * specifying the starting pose of the localizer.
-     *
-     * @param map          the HardwareMap
-     * @param setStartPose the Pose to start from
-     */
-    public ThreeWheelIMULocalizer(HardwareMap map, Pose setStartPose) {
-        hardwareMap = map;
-        imu = hardwareMap.get(IMU.class, IMU);
-
-        // TODO: replace this with your IMU's orientation
-        imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(IMU_LOGO_FACING_DIRECTION, IMU_USB_FACING_DIRECTION)));
-
-        // TODO: replace these with your encoder positions
-        leftEncoderPose = new Pose(0, 6.19375, 0);
-        rightEncoderPose = new Pose(0, -6.19375, 0);
-        strafeEncoderPose = new Pose(-7, 0, Math.toRadians(90));
-
-        // TODO: replace these with your encoder ports
-        leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
-        rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
-        strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
-
-        // TODO: reverse any encoders necessary
-        leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
-        rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
-        strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
-
-        setStartPose(setStartPose);
-        timer = new NanoTimer();
-        deltaTimeNano = 1;
-        displacementPose = new Pose();
-        currentVelocity = new Pose();
-        totalHeading = 0;
-
-        resetEncoders();
-    }
-
-    /**
-     * This returns the current pose estimate.
-     *
-     * @return returns the current pose estimate as a Pose
-     */
-    @Override
-    public Pose getPose() {
-        return MathFunctions.addPoses(startPose, displacementPose);
-    }
-
-    /**
-     * This returns the current velocity estimate.
-     *
-     * @return returns the current velocity estimate as a Pose
-     */
-    @Override
-    public Pose getVelocity() {
-        return currentVelocity.copy();
-    }
-
-    /**
-     * This returns the current velocity estimate.
-     *
-     * @return returns the current velocity estimate as a Vector
-     */
-    @Override
-    public Vector getVelocityVector() {
-        return currentVelocity.getVector();
-    }
-
-    /**
-     * This sets the start pose. Changing the start pose should move the robot as if all its
-     * previous movements were displacing it from its new start pose.
-     *
-     * @param setStart the new start pose
-     */
-    @Override
-    public void setStartPose(Pose setStart) {
-        startPose = setStart;
-    }
-
-    /**
-     * This sets the Matrix that contains the previous pose's heading rotation.
-     *
-     * @param heading the rotation of the Matrix
-     */
-    public void setPrevRotationMatrix(double heading) {
-        prevRotationMatrix = new Matrix(3,3);
-        prevRotationMatrix.set(0, 0, Math.cos(heading));
-        prevRotationMatrix.set(0, 1, -Math.sin(heading));
-        prevRotationMatrix.set(1, 0, Math.sin(heading));
-        prevRotationMatrix.set(1, 1, Math.cos(heading));
-        prevRotationMatrix.set(2, 2, 1.0);
-    }
-
-    /**
-     * This sets the current pose estimate. Changing this should just change the robot's current
-     * pose estimate, not anything to do with the start pose.
-     *
-     * @param setPose the new current pose estimate
-     */
-    @Override
-    public void setPose(Pose setPose) {
-        displacementPose = MathFunctions.subtractPoses(setPose, startPose);
-        resetEncoders();
-    }
-
-    /**
-     * This updates the elapsed time timer that keeps track of time between updates, as well as the
-     * change position of the Encoders. Then, the robot's global change in position is calculated
-     * using the pose exponential method.
-     */
-    @Override
-    public void update() {
-        deltaTimeNano = timer.getElapsedTime();
-        timer.resetTimer();
-
-        updateEncoders();
-        Matrix robotDeltas = getRobotDeltas();
-        Matrix globalDeltas;
-        setPrevRotationMatrix(getPose().getHeading());
-
-        Matrix transformation = new Matrix(3,3);
-        if (Math.abs(robotDeltas.get(2, 0)) < 0.001) {
-            transformation.set(0, 0, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
-            transformation.set(0, 1, -robotDeltas.get(2, 0) / 2.0);
-            transformation.set(1, 0, robotDeltas.get(2, 0) / 2.0);
-            transformation.set(1, 1, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
-            transformation.set(2, 2, 1.0);
-        } else {
-            transformation.set(0, 0, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
-            transformation.set(0, 1, (Math.cos(robotDeltas.get(2, 0)) - 1.0) / robotDeltas.get(2, 0));
-            transformation.set(1, 0, (1.0 - Math.cos(robotDeltas.get(2, 0))) / robotDeltas.get(2, 0));
-            transformation.set(1, 1, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
-            transformation.set(2, 2, 1.0);
-        }
-
-        globalDeltas = Matrix.multiply(Matrix.multiply(prevRotationMatrix, transformation), robotDeltas);
-
-        displacementPose.add(new Pose(globalDeltas.get(0, 0), globalDeltas.get(1, 0), globalDeltas.get(2, 0)));
-        currentVelocity = new Pose(globalDeltas.get(0, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(1, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(2, 0) / (deltaTimeNano * Math.pow(10.0, 9)));
-
-        totalHeading += globalDeltas.get(2, 0);
-    }
-
-    /**
-     * This updates the Encoders.
-     */
-    public void updateEncoders() {
-        leftEncoder.update();
-        rightEncoder.update();
-        strafeEncoder.update();
-
-        double currentIMUOrientation = MathFunctions.normalizeAngle(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
-        deltaRadians = MathFunctions.getTurnDirection(previousIMUOrientation, currentIMUOrientation) * MathFunctions.getSmallestAngleDifference(currentIMUOrientation, previousIMUOrientation);
-        previousIMUOrientation = currentIMUOrientation;
-    }
-
-    /**
-     * This resets the Encoders.
-     */
-    public void resetEncoders() {
-        leftEncoder.reset();
-        rightEncoder.reset();
-        strafeEncoder.reset();
-    }
-
-    /**
-     * This calculates the change in position from the perspective of the robot using information
-     * from the Encoders.
-     *
-     * @return returns a Matrix containing the robot relative movement.
-     */
-    public Matrix getRobotDeltas() {
-        Matrix returnMatrix = new Matrix(3,1);
-        // x/forward movement
-        returnMatrix.set(0,0, FORWARD_TICKS_TO_INCHES * ((rightEncoder.getDeltaPosition() * leftEncoderPose.getY() - leftEncoder.getDeltaPosition() * rightEncoderPose.getY()) / (leftEncoderPose.getY() - rightEncoderPose.getY())));
-        //y/strafe movement
-        returnMatrix.set(1,0, STRAFE_TICKS_TO_INCHES * (strafeEncoder.getDeltaPosition() - strafeEncoderPose.getX() * ((rightEncoder.getDeltaPosition() - leftEncoder.getDeltaPosition()) / (leftEncoderPose.getY() - rightEncoderPose.getY()))));
-        // theta/turning
-        if (MathFunctions.getSmallestAngleDifference(0, deltaRadians) > 0.00005 && useIMU) {
-            returnMatrix.set(2, 0, deltaRadians);
-        } else {
-            returnMatrix.set(2,0, TURN_TICKS_TO_RADIANS * ((rightEncoder.getDeltaPosition() - leftEncoder.getDeltaPosition()) / (leftEncoderPose.getY() - rightEncoderPose.getY())));
-        }
-        return returnMatrix;
-    }
-
-    /**
-     * This returns how far the robot has turned in radians, in a number not clamped between 0 and
-     * 2 * pi radians. This is used for some tuning things and nothing actually within the following.
-     *
-     * @return returns how far the robot has turned in total, in radians.
-     */
-    public double getTotalHeading() {
-        return totalHeading;
-    }
-
-    /**
-     * This returns the multiplier applied to forward movement measurement to convert from encoder
-     * ticks to inches. This is found empirically through a tuner.
-     *
-     * @return returns the forward ticks to inches multiplier
-     */
-    public double getForwardMultiplier() {
-        return FORWARD_TICKS_TO_INCHES;
-    }
-
-    /**
-     * This returns the multiplier applied to lateral/strafe movement measurement to convert from
-     * encoder ticks to inches. This is found empirically through a tuner.
-     *
-     * @return returns the lateral/strafe ticks to inches multiplier
-     */
-    public double getLateralMultiplier() {
-        return STRAFE_TICKS_TO_INCHES;
-    }
-
-    /**
-     * This returns the multiplier applied to turning movement measurement to convert from encoder
-     * ticks to radians. This is found empirically through a tuner.
-     *
-     * @return returns the turning ticks to radians multiplier
-     */
-    public double getTurningMultiplier() {
-        return TURN_TICKS_TO_RADIANS;
-    }
-
-    /**
-     * This resets the IMU.
-     */
-    public void resetIMU() {
-        imu.resetYaw();
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/ThreeWheelLocalizer.java

@@ -1,294 +0,0 @@
-package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
-
-import static org.firstinspires.ftc.teamcode.PedroConstants.*;
-
-import com.acmerobotics.dashboard.config.Config;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Localizer;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Matrix;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
-import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
-
-/**
- * This is the ThreeWheelLocalizer class. This class extends the Localizer superclass and is a
- * localizer that uses the three wheel odometry set up. The diagram below, which is modified from
- * Road Runner, shows a typical set up.
- *
- * The view is from the top of the robot looking downwards.
- *
- * left on robot is the y positive direction
- *
- * forward on robot is the x positive direction
- *
- *    /--------------\
- *    |     ____     |
- *    |     ----     |
- *    | ||        || |
- *    | ||        || |  ----> left (y positive)
- *    |              |
- *    |              |
- *    \--------------/
- *           |
- *           |
- *           V
- *    forward (x positive)
- *
- * @author Anyi Lin - 10158 Scott's Bots
- * @version 1.0, 4/2/2024
- */
-@Config
-public class ThreeWheelLocalizer extends Localizer {
-    private HardwareMap hardwareMap;
-    private Pose startPose;
-    private Pose displacementPose;
-    private Pose currentVelocity;
-    private Matrix prevRotationMatrix;
-    private NanoTimer timer;
-    private long deltaTimeNano;
-    private Encoder leftEncoder;
-    private Encoder rightEncoder;
-    private Encoder strafeEncoder;
-    private Pose leftEncoderPose;
-    private Pose rightEncoderPose;
-    private Pose strafeEncoderPose;
-    private double totalHeading;
-    public static double FORWARD_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
-    public static double STRAFE_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
-    public static double TURN_TICKS_TO_RADIANS = 0.003;//8192 * 1.37795 * 2 * Math.PI * 0.5;
-
-    /**
-     * This creates a new ThreeWheelLocalizer from a HardwareMap, with a starting Pose at (0,0)
-     * facing 0 heading.
-     *
-     * @param map the HardwareMap
-     */
-    public ThreeWheelLocalizer(HardwareMap map) {
-        this(map, new Pose());
-    }
-
-    /**
-     * This creates a new ThreeWheelLocalizer from a HardwareMap and a Pose, with the Pose
-     * specifying the starting pose of the localizer.
-     *
-     * @param map the HardwareMap
-     * @param setStartPose the Pose to start from
-     */
-    public ThreeWheelLocalizer(HardwareMap map, Pose setStartPose) {
-        // TODO: replace these with your encoder positions
-        leftEncoderPose = new Pose(0, 6.25, 0);
-        rightEncoderPose = new Pose(0, -6.25, 0);
-        strafeEncoderPose = new Pose(-7, 0, Math.toRadians(90));
-
-        hardwareMap = map;
-
-        // TODO: replace these with your encoder ports
-        leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
-        rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
-        strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
-
-        // TODO: reverse any encoders necessary
-        leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
-        rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
-        strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
-
-        setStartPose(setStartPose);
-        timer = new NanoTimer();
-        deltaTimeNano = 1;
-        displacementPose = new Pose();
-        currentVelocity = new Pose();
-        totalHeading = 0;
-
-        resetEncoders();
-    }
-
-    /**
-     * This returns the current pose estimate.
-     *
-     * @return returns the current pose estimate as a Pose
-     */
-    @Override
-    public Pose getPose() {
-        return MathFunctions.addPoses(startPose, displacementPose);
-    }
-
-    /**
-     * This returns the current velocity estimate.
-     *
-     * @return returns the current velocity estimate as a Pose
-     */
-    @Override
-    public Pose getVelocity() {
-        return currentVelocity.copy();
-    }
-
-    /**
-     * This returns the current velocity estimate.
-     *
-     * @return returns the current velocity estimate as a Vector
-     */
-    @Override
-    public Vector getVelocityVector() {
-        return currentVelocity.getVector();
-    }
-
-    /**
-     * This sets the start pose. Changing the start pose should move the robot as if all its
-     * previous movements were displacing it from its new start pose.
-     *
-     * @param setStart the new start pose
-     */
-    @Override
-    public void setStartPose(Pose setStart) {
-        startPose = setStart;
-    }
-
-    /**
-     * This sets the Matrix that contains the previous pose's heading rotation.
-     *
-     * @param heading the rotation of the Matrix
-     */
-    public void setPrevRotationMatrix(double heading) {
-        prevRotationMatrix = new Matrix(3,3);
-        prevRotationMatrix.set(0, 0, Math.cos(heading));
-        prevRotationMatrix.set(0, 1, -Math.sin(heading));
-        prevRotationMatrix.set(1, 0, Math.sin(heading));
-        prevRotationMatrix.set(1, 1, Math.cos(heading));
-        prevRotationMatrix.set(2, 2, 1.0);
-    }
-
-    /**
-     * This sets the current pose estimate. Changing this should just change the robot's current
-     * pose estimate, not anything to do with the start pose.
-     *
-     * @param setPose the new current pose estimate
-     */
-    @Override
-    public void setPose(Pose setPose) {
-        displacementPose = MathFunctions.subtractPoses(setPose, startPose);
-        resetEncoders();
-    }
-
-    /**
-     * This updates the elapsed time timer that keeps track of time between updates, as well as the
-     * change position of the Encoders. Then, the robot's global change in position is calculated
-     * using the pose exponential method.
-     */
-    @Override
-    public void update() {
-        deltaTimeNano = timer.getElapsedTime();
-        timer.resetTimer();
-
-        updateEncoders();
-        Matrix robotDeltas = getRobotDeltas();
-        Matrix globalDeltas;
-        setPrevRotationMatrix(getPose().getHeading());
-
-        Matrix transformation = new Matrix(3,3);
-        if (Math.abs(robotDeltas.get(2, 0)) < 0.001) {
-            transformation.set(0, 0, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
-            transformation.set(0, 1, -robotDeltas.get(2, 0) / 2.0);
-            transformation.set(1, 0, robotDeltas.get(2, 0) / 2.0);
-            transformation.set(1, 1, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
-            transformation.set(2, 2, 1.0);
-        } else {
-            transformation.set(0, 0, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
-            transformation.set(0, 1, (Math.cos(robotDeltas.get(2, 0)) - 1.0) / robotDeltas.get(2, 0));
-            transformation.set(1, 0, (1.0 - Math.cos(robotDeltas.get(2, 0))) / robotDeltas.get(2, 0));
-            transformation.set(1, 1, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
-            transformation.set(2, 2, 1.0);
-        }
-
-        globalDeltas = Matrix.multiply(Matrix.multiply(prevRotationMatrix, transformation), robotDeltas);
-
-        displacementPose.add(new Pose(globalDeltas.get(0, 0), globalDeltas.get(1, 0), globalDeltas.get(2, 0)));
-        currentVelocity = new Pose(globalDeltas.get(0, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(1, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(2, 0) / (deltaTimeNano * Math.pow(10.0, 9)));
-
-        totalHeading += globalDeltas.get(2, 0);
-    }
-
-    /**
-     * This updates the Encoders.
-     */
-    public void updateEncoders() {
-        leftEncoder.update();
-        rightEncoder.update();
-        strafeEncoder.update();
-    }
-
-    /**
-     * This resets the Encoders.
-     */
-    public void resetEncoders() {
-        leftEncoder.reset();
-        rightEncoder.reset();
-        strafeEncoder.reset();
-    }
-
-    /**
-     * This calculates the change in position from the perspective of the robot using information
-     * from the Encoders.
-     *
-     * @return returns a Matrix containing the robot relative movement.
-     */
-    public Matrix getRobotDeltas() {
-        Matrix returnMatrix = new Matrix(3,1);
-        // x/forward movement
-        returnMatrix.set(0,0, FORWARD_TICKS_TO_INCHES * ((rightEncoder.getDeltaPosition() * leftEncoderPose.getY() - leftEncoder.getDeltaPosition() * rightEncoderPose.getY()) / (leftEncoderPose.getY() - rightEncoderPose.getY())));
-        //y/strafe movement
-        returnMatrix.set(1,0, STRAFE_TICKS_TO_INCHES * (strafeEncoder.getDeltaPosition() - strafeEncoderPose.getX() * ((rightEncoder.getDeltaPosition() - leftEncoder.getDeltaPosition()) / (leftEncoderPose.getY() - rightEncoderPose.getY()))));
-        // theta/turning
-        returnMatrix.set(2,0, TURN_TICKS_TO_RADIANS * ((rightEncoder.getDeltaPosition() - leftEncoder.getDeltaPosition()) / (leftEncoderPose.getY() - rightEncoderPose.getY())));
-        return returnMatrix;
-    }
-
-    /**
-     * This returns how far the robot has turned in radians, in a number not clamped between 0 and
-     * 2 * pi radians. This is used for some tuning things and nothing actually within the following.
-     *
-     * @return returns how far the robot has turned in total, in radians.
-     */
-    public double getTotalHeading() {
-        return totalHeading;
-    }
-
-    /**
-     * This returns the multiplier applied to forward movement measurement to convert from encoder
-     * ticks to inches. This is found empirically through a tuner.
-     *
-     * @return returns the forward ticks to inches multiplier
-     */
-    public double getForwardMultiplier() {
-        return FORWARD_TICKS_TO_INCHES;
-    }
-
-    /**
-     * This returns the multiplier applied to lateral/strafe movement measurement to convert from
-     * encoder ticks to inches. This is found empirically through a tuner.
-     *
-     * @return returns the lateral/strafe ticks to inches multiplier
-     */
-    public double getLateralMultiplier() {
-        return STRAFE_TICKS_TO_INCHES;
-    }
-
-    /**
-     * This returns the multiplier applied to turning movement measurement to convert from encoder
-     * ticks to radians. This is found empirically through a tuner.
-     *
-     * @return returns the turning ticks to radians multiplier
-     */
-    public double getTurningMultiplier() {
-        return TURN_TICKS_TO_RADIANS;
-    }
-
-    /**
-     * This does nothing since this localizer does not use the IMU.
-     */
-    public void resetIMU() {
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/localizers/TwoWheelLocalizer.java

@@ -1,302 +0,0 @@
-package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
-
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER;
-
-import com.acmerobotics.dashboard.config.Config;
-import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.IMU;
-
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Localizer;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Matrix;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
-import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
-
-/**
- * This is the TwoWheelLocalizer class. This class extends the Localizer superclass and is a
- * localizer that uses the two wheel odometry with IMU set up. The diagram below, which is modified from
- * Road Runner, shows a typical set up.
- *
- * The view is from the top of the robot looking downwards.
- *
- * left on robot is the y positive direction
- *
- * forward on robot is the x positive direction
- *
- *    /--------------\
- *    |     ____     |
- *    |     ----     |
- *    | ||        || |
- *    | ||        || |  ----> left (y positive)
- *    |              |
- *    |              |
- *    \--------------/
- *           |
- *           |
- *           V
- *    forward (x positive)
- *
- * @author Anyi Lin - 10158 Scott's Bots
- * @version 1.0, 4/2/2024
- */
-@Config
-public class TwoWheelLocalizer extends Localizer { // todo: make two wheel odo work
-    private HardwareMap hardwareMap;
-    private IMU imu;
-    private Pose startPose;
-    private Pose displacementPose;
-    private Pose currentVelocity;
-    private Matrix prevRotationMatrix;
-    private NanoTimer timer;
-    private long deltaTimeNano;
-    private Encoder forwardEncoder;
-    private Encoder strafeEncoder;
-    private Pose forwardEncoderPose;
-    private Pose strafeEncoderPose;
-    private double previousIMUOrientation;
-    private double deltaRadians;
-    private double totalHeading;
-    public static double FORWARD_TICKS_TO_INCHES = 8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
-    public static double STRAFE_TICKS_TO_INCHES = 8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
-
-    /**
-     * This creates a new TwoWheelLocalizer from a HardwareMap, with a starting Pose at (0,0)
-     * facing 0 heading.
-     *
-     * @param map the HardwareMap
-     */
-    public TwoWheelLocalizer(HardwareMap map) {
-        this(map, new Pose());
-    }
-
-    /**
-     * This creates a new TwoWheelLocalizer from a HardwareMap and a Pose, with the Pose
-     * specifying the starting pose of the localizer.
-     *
-     * @param map the HardwareMap
-     * @param setStartPose the Pose to start from
-     */
-    public TwoWheelLocalizer(HardwareMap map, Pose setStartPose) {
-        // TODO: replace these with your encoder positions
-        forwardEncoderPose = new Pose(-18.5/25.4 - 0.1, 164.4/25.4, 0);
-        strafeEncoderPose = new Pose(-107.9/25.4+0.25, -1.1/25.4-0.23, Math.toRadians(90));
-
-        hardwareMap = map;
-
-        imu = hardwareMap.get(IMU.class, "imu");
-        // TODO: replace this with your IMU's orientation
-        imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(RevHubOrientationOnRobot.LogoFacingDirection.UP, RevHubOrientationOnRobot.UsbFacingDirection.LEFT)));
-
-        // TODO: replace these with your encoder ports
-        forwardEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
-        strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
-
-        // TODO: reverse any encoders necessary
-        forwardEncoder.setDirection(Encoder.REVERSE);
-        strafeEncoder.setDirection(Encoder.FORWARD);
-
-        setStartPose(setStartPose);
-        timer = new NanoTimer();
-        deltaTimeNano = 1;
-        displacementPose = new Pose();
-        currentVelocity = new Pose();
-
-        previousIMUOrientation = MathFunctions.normalizeAngle(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
-        deltaRadians = 0;
-    }
-
-    /**
-     * This returns the current pose estimate.
-     *
-     * @return returns the current pose estimate as a Pose
-     */
-    @Override
-    public Pose getPose() {
-        return MathFunctions.addPoses(startPose, displacementPose);
-    }
-
-    /**
-     * This returns the current velocity estimate.
-     *
-     * @return returns the current velocity estimate as a Pose
-     */
-    @Override
-    public Pose getVelocity() {
-        return currentVelocity.copy();
-    }
-
-    /**
-     * This returns the current velocity estimate.
-     *
-     * @return returns the current velocity estimate as a Vector
-     */
-    @Override
-    public Vector getVelocityVector() {
-        return currentVelocity.getVector();
-    }
-
-    /**
-     * This sets the start pose. Changing the start pose should move the robot as if all its
-     * previous movements were displacing it from its new start pose.
-     *
-     * @param setStart the new start pose
-     */
-    @Override
-    public void setStartPose(Pose setStart) {
-        startPose = setStart;
-    }
-
-    /**
-     * This sets the Matrix that contains the previous pose's heading rotation.
-     *
-     * @param heading the rotation of the Matrix
-     */
-    public void setPrevRotationMatrix(double heading) {
-        prevRotationMatrix = new Matrix(3,3);
-        prevRotationMatrix.set(0, 0, Math.cos(heading));
-        prevRotationMatrix.set(0, 1, -Math.sin(heading));
-        prevRotationMatrix.set(1, 0, Math.sin(heading));
-        prevRotationMatrix.set(1, 1, Math.cos(heading));
-        prevRotationMatrix.set(2, 2, 1.0);
-    }
-
-    /**
-     * This sets the current pose estimate. Changing this should just change the robot's current
-     * pose estimate, not anything to do with the start pose.
-     *
-     * @param setPose the new current pose estimate
-     */
-    @Override
-    public void setPose(Pose setPose) {
-        displacementPose = MathFunctions.subtractPoses(setPose, startPose);
-        resetEncoders();
-    }
-
-    /**
-     * This updates the elapsed time timer that keeps track of time between updates, as well as the
-     * change position of the Encoders and the IMU readings. Then, the robot's global change in
-     * position is calculated using the pose exponential method.
-     */
-    @Override
-    public void update() {
-        deltaTimeNano = timer.getElapsedTime();
-        timer.resetTimer();
-
-        updateEncoders();
-        Matrix robotDeltas = getRobotDeltas();
-        Matrix globalDeltas;
-        setPrevRotationMatrix(getPose().getHeading());
-
-        Matrix transformation = new Matrix(3,3);
-        if (Math.abs(robotDeltas.get(2, 0)) < 0.001) {
-            transformation.set(0, 0, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
-            transformation.set(0, 1, -robotDeltas.get(2, 0) / 2.0);
-            transformation.set(1, 0, robotDeltas.get(2, 0) / 2.0);
-            transformation.set(1, 1, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
-            transformation.set(2, 2, 1.0);
-        } else {
-            transformation.set(0, 0, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
-            transformation.set(0, 1, (Math.cos(robotDeltas.get(2, 0)) - 1.0) / robotDeltas.get(2, 0));
-            transformation.set(1, 0, (1.0 - Math.cos(robotDeltas.get(2, 0))) / robotDeltas.get(2, 0));
-            transformation.set(1, 1, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
-            transformation.set(2, 2, 1.0);
-        }
-
-        globalDeltas = Matrix.multiply(Matrix.multiply(prevRotationMatrix, transformation), robotDeltas);
-
-        displacementPose.add(new Pose(globalDeltas.get(0, 0), globalDeltas.get(1, 0), globalDeltas.get(2, 0)));
-        currentVelocity = new Pose(globalDeltas.get(0, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(1, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(2, 0) / (deltaTimeNano * Math.pow(10.0, 9)));
-
-        totalHeading += globalDeltas.get(2, 0);
-    }
-
-    /**
-     * This updates the Encoders as well as the IMU.
-     */
-    public void updateEncoders() {
-        forwardEncoder.update();
-        strafeEncoder.update();
-
-        double currentIMUOrientation = MathFunctions.normalizeAngle(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
-        deltaRadians = MathFunctions.getTurnDirection(previousIMUOrientation, currentIMUOrientation) * MathFunctions.getSmallestAngleDifference(currentIMUOrientation, previousIMUOrientation);
-        previousIMUOrientation = currentIMUOrientation;
-    }
-
-    /**
-     * This resets the Encoders.
-     */
-    public void resetEncoders() {
-        forwardEncoder.reset();
-        strafeEncoder.reset();
-    }
-
-    /**
-     * This calculates the change in position from the perspective of the robot using information
-     * from the Encoders and IMU.
-     *
-     * @return returns a Matrix containing the robot relative movement.
-     */
-    public Matrix getRobotDeltas() {
-        Matrix returnMatrix = new Matrix(3,1);
-        // x/forward movement
-        returnMatrix.set(0,0, FORWARD_TICKS_TO_INCHES * (forwardEncoder.getDeltaPosition() - forwardEncoderPose.getY() * deltaRadians));
-        //y/strafe movement
-        returnMatrix.set(1,0, STRAFE_TICKS_TO_INCHES * (strafeEncoder.getDeltaPosition() - strafeEncoderPose.getX() * deltaRadians));
-        // theta/turning
-        returnMatrix.set(2,0, deltaRadians);
-        return returnMatrix;
-    }
-
-    /**
-     * This returns how far the robot has turned in radians, in a number not clamped between 0 and
-     * 2 * pi radians. This is used for some tuning things and nothing actually within the following.
-     *
-     * @return returns how far the robot has turned in total, in radians.
-     */
-    public double getTotalHeading() {
-        return totalHeading;
-    }
-
-    /**
-     * This returns the multiplier applied to forward movement measurement to convert from encoder
-     * ticks to inches. This is found empirically through a tuner.
-     *
-     * @return returns the forward ticks to inches multiplier
-     */
-    public double getForwardMultiplier() {
-        return FORWARD_TICKS_TO_INCHES;
-    }
-
-    /**
-     * This returns the multiplier applied to lateral/strafe movement measurement to convert from
-     * encoder ticks to inches. This is found empirically through a tuner.
-     *
-     * @return returns the lateral/strafe ticks to inches multiplier
-     */
-    public double getLateralMultiplier() {
-        return STRAFE_TICKS_TO_INCHES;
-    }
-
-    /**
-     * This returns the multiplier applied to turning movement measurement to convert from encoder
-     * ticks to radians. This is found empirically through a tuner.
-     *
-     * @return returns the turning ticks to radians multiplier
-     */
-    public double getTurningMultiplier() {
-        return 1;
-    }
-
-    /**
-     * This resets the IMU.
-     */
-    public void resetIMU() {
-        imu.resetYaw();
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/tuning/LateralTuner.java

@@ -63,6 +63,7 @@ public class LateralTuner extends OpMode {
         telemetryA.addData("distance moved", poseUpdater.getPose().getY());
         telemetryA.addLine("The multiplier will display what your strafe ticks to inches should be to scale your current distance to " + DISTANCE + " inches.");
         telemetryA.addData("multiplier", DISTANCE / (poseUpdater.getPose().getY() / poseUpdater.getLocalizer().getLateralMultiplier()));
+
         telemetryA.update();
 
         Drawing.drawPoseHistory(dashboardPoseTracker, "#4CAF50");

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/localization/tuning/LocalizationTest.java

@@ -1,9 +1,5 @@
 package org.firstinspires.ftc.teamcode.pedroPathing.localization.tuning;
 
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorName;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
@@ -62,11 +58,6 @@ public class LocalizationTest extends OpMode {
         rightRear = hardwareMap.get(DcMotorEx.class, rightRearMotorName);
         rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
 
-        leftFront.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
-        leftRear.setDirection(BACK_LEFT_MOTOR_DIRECTION);
-        rightFront.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
-        rightRear.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
-
         motors = Arrays.asList(leftFront, leftRear, rightFront, rightRear);
 
         for (DcMotorEx motor : motors) {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/FollowerConstants.java

@@ -42,7 +42,7 @@ public class FollowerConstants {
     public static CustomPIDFCoefficients translationalPIDFCoefficients = new CustomPIDFCoefficients(
             0.1,
             0,
-            0.01,
+            0,
             0);
 
     // Translational Integral
@@ -53,14 +53,14 @@ public class FollowerConstants {
             0);
 
     // Feed forward constant added on to the translational PIDF
-    public static double translationalPIDFFeedForward = 0.00;
+    public static double translationalPIDFFeedForward = 0.015;
 
 
     // Heading error PIDF coefficients
     public static CustomPIDFCoefficients headingPIDFCoefficients = new CustomPIDFCoefficients(
-            2,
+            1,
+            0,
             0,
-            0.025,
             0);
 
     // Feed forward constant added on to the heading PIDF
@@ -69,10 +69,10 @@ public class FollowerConstants {
 
     // Drive PIDF coefficients
     public static CustomFilteredPIDFCoefficients drivePIDFCoefficients = new CustomFilteredPIDFCoefficients(
-            0.006,
+            0.025,
             0,
             0.00001,
-            0.8,
+            0.6,
             0);
 
     // Feed forward constant added on to the drive PIDF
@@ -81,7 +81,7 @@ public class FollowerConstants {
     // Kalman filter parameters for the drive error Kalman filter
     public static KalmanFilterParameters driveKalmanFilterParameters = new KalmanFilterParameters(
             6,
-            3);
+            1);
 
 
     // Mass of robot in kilograms
@@ -202,9 +202,9 @@ public class FollowerConstants {
 
     // Secondary drive PIDF coefficients
     public static CustomFilteredPIDFCoefficients secondaryDrivePIDFCoefficients = new CustomFilteredPIDFCoefficients(
-            0.02,
+            0.00315,
             0,
-            0.000005,
+            0.0001,
             0.6,
             0);
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/ForwardVelocityTuner.java

@@ -93,13 +93,11 @@ public class ForwardVelocityTuner extends OpMode {
         }
 
         telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
-//        telemetryA.addLine("The robot will run at 1 power until it reaches " + DISTANCE + " inches forward.");
+        telemetryA.addLine("The robot will run at 1 power until it reaches " + DISTANCE + " inches forward.");
-//        telemetryA.addLine("Make sure you have enough room, since the robot has inertia after cutting power.");
+        telemetryA.addLine("Make sure you have enough room, since the robot has inertia after cutting power.");
-//        telemetryA.addLine("After running the distance, the robot will cut power from the drivetrain and display the forward velocity.");
+        telemetryA.addLine("After running the distance, the robot will cut power from the drivetrain and display the forward velocity.");
-//        telemetryA.addLine("Press CROSS or A on game pad 1 to stop.");
+        telemetryA.addLine("Press CROSS or A on game pad 1 to stop.");
-//
+        telemetryA.update();
-//
-//        telemetryA.update();
 
     }
 
@@ -140,13 +138,6 @@ public class ForwardVelocityTuner extends OpMode {
                 velocities.add(currentVelocity);
                 velocities.remove(0);
             }
-            telemetryA.addData("x", poseUpdater.getPose().getX());
-            telemetryA.addData("y", poseUpdater.getPose().getY());
-            telemetryA.addData("heading", poseUpdater.getPose().getHeading());
-            telemetryA.addData("velo mag", poseUpdater.getVelocity().getMagnitude());
-            telemetryA.addData("velo ", poseUpdater.getVelocity().getTheta());
-            telemetryA.update();
-
         } else {
             double average = 0;
             for (Double velocity : velocities) {
@@ -155,12 +146,7 @@ public class ForwardVelocityTuner extends OpMode {
             average /= (double) velocities.size();
 
             telemetryA.addData("forward velocity:", average);
-//            telemetryA.addData("x", poseUpdater.getPose().getX());
+            telemetryA.update();
-//            telemetryA.addData("y", poseUpdater.getPose().getY());
-//            telemetryA.addData("heading", poseUpdater.getPose().getHeading());
-//            telemetryA.addData("velo mag", poseUpdater.getVelocity().getMagnitude());
-//            telemetryA.addData("velo ", poseUpdater.getVelocity().getTheta());
-//            telemetryA.update();
         }
     }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/tuning/LateralZeroPowerAccelerationTuner.java

@@ -119,6 +119,13 @@ public class LateralZeroPowerAccelerationTuner extends OpMode {
      */
     @Override
     public void loop() {
+
+        telemetry.addData("x",poseUpdater.getPose().getX());
+        telemetry.addData("y",poseUpdater.getPose().getY());
+        telemetry.addData("heading",poseUpdater.getPose().getHeading());
+        telemetry.addData("velo mag", poseUpdater.getVelocity().getMagnitude());
+        telemetry.addData("velo theta", poseUpdater.getVelocity().getTheta());
+
         if (gamepad1.cross || gamepad1.a) {
             requestOpModeStop();
         }

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

@@ -1,18 +0,0 @@
-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/AutoLine1.java

@@ -1,44 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-
-
-/*
-    AutoLine# - This file does something of a path......
-
- */
-public class AutoLine1 {
-
-    private PathChain pathChain;
-    private Pose autoLin1StartPose = new Pose(8,65);
-
-    public void moveToAutoLine1(Follower robot) {
-        PathBuilder builder = new PathBuilder();
-        builder
-                .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(8.000, 65.000, Point.CARTESIAN),
-                                new Point(30.000, 72.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0));
-        pathChain = builder.build();
-        robot.setStartingPose(autoLin1StartPose);
-        robot.followPath(pathChain);
-    }
-
-}
-

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine2.java

@@ -1,40 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-
-/*
-    AutoLine# - This file does something of a path......
-
- */
-public class AutoLine2 {
-    private PathChain pathChain;
-    public void moveToAutoLine2(Follower robot) {
-        PathBuilder builder = new PathBuilder();
-        builder
-                .addPath(
-                        // Line 2
-                        new BezierCurve(
-                                new Point(36.000, 72.000, Point.CARTESIAN),
-                                new Point(24.000, 24.000, Point.CARTESIAN),
-                                new Point(72.000, 36.000, Point.CARTESIAN),
-                                new Point(56.000, 24.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180));
-        pathChain = builder.build();
-        robot.followPath(pathChain);
-    }
-}
-

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine3.java

@@ -1,73 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-
-/*
-    AutoLine# - This file does something of a path......
-
- */
-public class AutoLine3 implements Action {
-
-    private Follower actionRobot;
-    private PathChain pathChain;
-
-    private Pose startPose = new Pose(56,24);
-
-    public AutoLine3(Follower robot) {
-        this.actionRobot = robot;
-        this.actionRobot.setStartingPose(startPose);
-
-        PathBuilder builder = new PathBuilder();
-        builder
-         /*       .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(8.000, 65.000, Point.CARTESIAN),
-                                new Point(30.000, 72.000, Point.CARTESIAN)
-//           This is the origional                     new Point(36.000, 72.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 2
-                        new BezierCurve(
-                                new Point(36.000, 72.000, Point.CARTESIAN),
-                                new Point(24.000, 24.000, Point.CARTESIAN),
-                                new Point(72.000, 36.000, Point.CARTESIAN),
-                                new Point(56.000, 24.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180))          */
-                .addPath(
-                   // Line 3
-                   new BezierLine(
-                            new Point(56.000, 24.000, Point.CARTESIAN),
-                             new Point(18.000, 24.000, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation();
-
-        pathChain = builder.build();
-
-        this.actionRobot.followPath(this.pathChain);
-    }
-
-    @Override
-    public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-        this.actionRobot.update();
-        return this.actionRobot.isBusy();
-    }
-}
-

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

@@ -1,105 +0,0 @@
-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

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