Commit

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java

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

@@ -1,10 +1,9 @@
-package org.firstinspires.ftc.teamcode.cometbots.poc;
+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.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -27,7 +26,6 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
-@Disabled
 @Autonomous(name = "AsherOrientBlue", group = "Autonomous Pathing Tuning")
 public class AsherOrientBlue extends OpMode {
     private Telemetry telemetryA;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AsherPathBlueV1.java

@@ -1,10 +1,9 @@
-package org.firstinspires.ftc.teamcode.cometbots.poc;
+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.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -27,7 +26,6 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
-@Disabled
 @Autonomous(name = "AsherPathBlueV1", group = "Autonomous Pathing Tuning")
 public class AsherPathBlueV1 extends OpMode {
     private Telemetry telemetryA;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CONTROLS.md

@@ -1,12 +0,0 @@
-# Controller 1
-
-## Motor Controls
-
-- Left Joystick
-  - Forward & Backwards
-- Right Joystick
-  - Strafe & Turning 
-
-## Arm Controls
-
-- 

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

@@ -7,7 +7,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
 import org.firstinspires.ftc.teamcode.runmodes.Auto;
 
 
-@Autonomous(name = "CometBot Auto", group = "Competition")
+@Autonomous(name = "CometBot Auto", group = "Debug")
 public class CometBotAuto extends OpMode {
     public Auto auto;
 

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

@@ -1,27 +1,31 @@
 package org.firstinspires.ftc.teamcode;
 
+import static org.firstinspires.ftc.teamcode.util.action.FieldConstants.blueBucketStartPose;
+
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
-import org.firstinspires.ftc.teamcode.runmodes.CometBotTeleopCompetition;
-import org.firstinspires.ftc.teamcode.runmodes.DevTeleopRunModeCompetition;
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+import org.firstinspires.ftc.teamcode.runmodes.Teleop;
 
-@TeleOp(name = "ComeBot Drive", group = "Competition")
+@TeleOp(name="ComeBot Drive", group="Debug")
 @Disabled
 public class CometBotDrive extends OpMode {
 
-    public CometBotTeleopCompetition runMode;
+    private Teleop teleop;
 
     @Override
     public void init() {
-        this.runMode = new CometBotTeleopCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
-        this.runMode.init();
+        teleop = new Teleop(hardwareMap,
+                telemetry,
+                new Follower(hardwareMap),
+                gamepad1);
+        teleop.start();
     }
 
     @Override
     public void loop() {
-        this.runMode.update();
-        telemetry.update();
+        teleop.update();
     }
 }

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

@@ -31,10 +31,10 @@ public class DevTeleOpRemix extends OpMode {
     @Override
     public void init() {
 
-        claw = new ClawSubsystem(hardwareMap, telemetry);
-        arm = new ArmSubsystem(hardwareMap, telemetry);
-        wrist = new WristSubsystem(hardwareMap, telemetry);
-        lift = new LiftSubsystem(hardwareMap, telemetry);
+        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
+        arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
+        wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
+        lift = new LiftSubsystem(hardwareMap);
         motors = new MotorsSubsystem(hardwareMap, telemetry, power);
 
         claw.init();
@@ -51,8 +51,8 @@ public class DevTeleOpRemix extends OpMode {
 
     public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
         if (currentGamepad1.a && !previousGamepad1.a) {
-            wrist.toFloorPosition();
-            arm.toFloorPosition();
+            wrist.floorWrist();
+            arm.engageArm();
         }
     }
 
@@ -64,15 +64,15 @@ public class DevTeleOpRemix extends OpMode {
 
     public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
         if (currentGamepad1.b && !previousGamepad1.b) {
-            arm.toParkPosition();
-            wrist.toBucketPosition();
+            arm.parkArm();
+            wrist.bucketWrist();
         }
     }
 
     public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
         if (currentGamepad1.y && !previousGamepad1.y) {
             lift.toLowBucket();
-            wrist.toBucketPosition();
+            wrist.bucketWrist();
         }
     }
 

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

@@ -36,11 +36,11 @@ public class DevTeleOpRemixDeux extends OpMode {
 
         follower = new Follower(hardwareMap);
 
-        claw = new ClawSubsystem(hardwareMap, telemetry);
-        arm = new ArmSubsystem(hardwareMap, telemetry);
-        wrist = new WristSubsystem(hardwareMap, telemetry);
+        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
+        arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
+        wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
         motors = new MotorsSubsystem(hardwareMap, telemetry);
-        lift = new LiftSubsystem(hardwareMap, telemetry);
+        lift = new LiftSubsystem(hardwareMap);
 
         claw.init();
         arm.init();
@@ -60,8 +60,8 @@ public class DevTeleOpRemixDeux extends OpMode {
 
     public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
         if (currentGamepad1.a && !previousGamepad1.a) {
-            wrist.toFloorPosition();
-            arm.toFloorPosition();
+            wrist.floorWrist();
+            arm.engageArm();
         }
     }
 
@@ -73,15 +73,15 @@ public class DevTeleOpRemixDeux extends OpMode {
 
     public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
         if (currentGamepad1.b && !previousGamepad1.b) {
-            arm.toParkPosition();
-            wrist.toBucketPosition();
+            arm.parkArm();
+            wrist.bucketWrist();
         }
     }
 
     public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
         if (currentGamepad1.y && !previousGamepad1.y) {
             lift.toLowBucket();
-            wrist.toBucketPosition();
+            wrist.bucketWrist();
         }
     }
 

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

@@ -1,25 +1,196 @@
 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;
+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.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 android.graphics.Point;
+
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.Gamepad;
 
-import org.firstinspires.ftc.teamcode.runmodes.DevTeleopRunMode;
-import org.firstinspires.ftc.teamcode.runmodes.DevTeleopRunModeCompetition;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
+import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.LiftSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
 
-@TeleOp(name = "Dev Teleop RR Actions", group = "Debug")
+@TeleOp(name = "Dev Teleop", group = "Debug")
 public class DevTeleop extends OpMode {
 
-    public DevTeleopRunModeCompetition runMode;
+    public ClawSubsystem claw;
+    public ArmSubsystem arm;
+    public WristSubsystem wrist;
+    public LiftSubsystem lift;
+    public Gamepad currentGamepad1;
+    public Gamepad previousGamepad1;
+    public Gamepad currentGamepad2;
+    public Gamepad previousGamepad2;
+    public DcMotor frontLeftMotor;
+    public DcMotor backLeftMotor;
+    public DcMotor frontRightMotor;
+    public DcMotor backRightMotor;
 
+    private double MAX_POWER = .45;
     @Override
     public void init() {
-        this.runMode = new DevTeleopRunModeCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
-        this.runMode.init();
+        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
+        arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
+        wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
+        lift = new LiftSubsystem(hardwareMap);
+        claw.init();
+        arm.init();
+        wrist.init();
+        lift.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);
+
+        currentGamepad1 = new Gamepad();
+        previousGamepad1 = new Gamepad();
+        currentGamepad2 = new Gamepad();
+        previousGamepad2 = new Gamepad();
+    }
+
+    public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
+//pick up
+        if (currentGamepad2.dpad_down && !previousGamepad2.dpad_down) {
+            wrist.floorWrist();
+            arm.engageArm();
+        }
+
+
+
+    }
+    public void thePickup(ClawSubsystem claw) {
+//claw open close
+        if (currentGamepad2.right_bumper && !previousGamepad2.right_bumper) {
+            claw.switchState();
+        }
+
+    }
+
+    /* public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
+
+        if (currentGamepad1.b && !previousGamepad1.b) {
+            arm.parkArm();
+            wrist.bucketWrist();
+        }
+
+    }
+*/
+    public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
+//low bucket
+        if (currentGamepad2.a && !previousGamepad2.a) {
+            lift.toLowBucket();
+            arm.bucketArm();
+            wrist.bucketWrist();
+        }
+    }
+
+    public void theHighBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
+//high basket
+        if (currentGamepad2.b && !previousGamepad2.b) {
+            lift.toHighBucket();
+            arm.bucketArm();
+            wrist.bucketWrist();
+        }
+    }
+
+    public void theTravel(LiftSubsystem lift, ArmSubsystem arm, WristSubsystem wrist){
+//
+        if (currentGamepad2.dpad_right && !previousGamepad2.dpad_right){
+            lift.toFloor();
+            arm.bucketArm();
+            wrist.floorWrist();
+        }
+    }
+
+    public void hoverState(ArmSubsystem arm, WristSubsystem wrist, LiftSubsystem lift){
+        if (currentGamepad1.dpad_left && !previousGamepad2.dpad_left){
+            lift.toHover();
+            wrist.floorWrist();
+            arm.engageArm();
+        }
+
+
     }
 
     @Override
     public void loop() {
-        this.runMode.update();
+        previousGamepad1.copy(currentGamepad1);
+        currentGamepad1.copy(gamepad1);
+        previousGamepad2.copy(currentGamepad2);
+        currentGamepad2.copy(gamepad2);
+
+
+        theDrop(arm, wrist);
+        thePickup(claw);
+       // theLift(arm, wrist);
+        theLowBucketScore(lift, wrist, arm);
+        theHighBucketScore(lift, wrist, arm);
+        theTravel(lift, arm, wrist);
+
+        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 lateral =  gamepad1.left_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 rightFrontPower = axial - lateral - yaw;
+        double leftBackPower   = 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.
+        max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
+        max = Math.max(max, Math.abs(leftBackPower));
+        max = Math.max(max, Math.abs(rightBackPower));
+
+        if (max > 1.0) {
+            leftFrontPower  /= max;
+            rightFrontPower /= max;
+            leftBackPower   /= max;
+            rightBackPower  /= max;
+        }
+
+
+        // Send calculated power to wheels
+        frontLeftMotor.setPower(leftFrontPower * MAX_POWER);
+        frontRightMotor.setPower(rightFrontPower * MAX_POWER);
+        backLeftMotor.setPower(leftBackPower * MAX_POWER);
+        backRightMotor.setPower(rightBackPower * MAX_POWER);
+
+        // Show the elapsed game time and wheel power.
+        telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
+        telemetry.addData("Back  left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
+        telemetry.addData("Current Lift Position", lift.getPosition());
         telemetry.update();
+
     }
 }

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

@@ -1,10 +1,9 @@
-package org.firstinspires.ftc.teamcode.cometbots.poc;
+package org.firstinspires.ftc.teamcode.cometbots;
 
 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.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -14,7 +13,7 @@ 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;
-import com.acmerobotics.roadrunner.SleepAction;
+
 /**
  * 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,
@@ -27,7 +26,6 @@ import com.acmerobotics.roadrunner.SleepAction;
  * @version 1.0, 3/12/2024
  */
 @Config
-@Disabled
 @Autonomous(name = "AsherPathV1", group = "Autonomous Pathing Tuning")
 public class AsherPathV1 extends OpMode {
     private Telemetry telemetryA;

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

@@ -1,10 +1,9 @@
-package org.firstinspires.ftc.teamcode.cometbots.poc;
+package org.firstinspires.ftc.teamcode.cometbots;
 
 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.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -26,7 +25,6 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
-@Disabled
 @Autonomous(name = "AutoExample - Straight Path", group = "Autonomous Pathing Tuning")
 public class AutoExample extends OpMode {
     private Telemetry telemetryA;

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

@@ -1,10 +1,9 @@
-package org.firstinspires.ftc.teamcode.cometbots.poc;
+package org.firstinspires.ftc.teamcode.cometbots;
 
 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.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -27,7 +26,6 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
-@Disabled
 @Autonomous(name = "AutoExample - 2 Curves/2 Lines", group = "Autonomous Pathing Tuning")
 public class AutoExampleFour extends OpMode {
     private Telemetry telemetryA;

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

@@ -1,10 +1,9 @@
-package org.firstinspires.ftc.teamcode.cometbots.poc;
+package org.firstinspires.ftc.teamcode.cometbots;
 
 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.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -26,7 +25,6 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
-@Disabled
 @Autonomous(name = "AutoExampleSeason2025V1", group = "Autonomous Pathing Tuning")
 public class AutoExampleSeason2025V1 extends OpMode {
     private Telemetry telemetryA;

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

@@ -1,10 +1,9 @@
-package org.firstinspires.ftc.teamcode.cometbots.poc;
+package org.firstinspires.ftc.teamcode.cometbots;
 
 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.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -27,7 +26,6 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
-@Disabled
 @Autonomous(name = "AutoExample - Curve and Line", group = "Autonomous Pathing Tuning")
 public class AutoExampleThree extends OpMode {
     private Telemetry telemetryA;

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

@@ -1,10 +1,9 @@
-package org.firstinspires.ftc.teamcode.cometbots.poc;
+package org.firstinspires.ftc.teamcode.cometbots;
 
 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.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -26,7 +25,6 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
-@Disabled
 @Autonomous(name = "AutoExample - Simple Curve", group = "Autonomous Pathing Tuning")
 public class AutoExampleTwo extends OpMode {
     private Telemetry telemetryA;

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

@@ -27,7 +27,7 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-package org.firstinspires.ftc.teamcode.cometbots.poc;
+package org.firstinspires.ftc.teamcode.cometbots;
 
 import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
 import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
@@ -44,7 +44,6 @@ import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTI
 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.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.DcMotor;
@@ -82,7 +81,6 @@ import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
  */
 
 @TeleOp(name="Basic: Omni Linear OpMode", group="Linear OpMode")
-@Disabled
 public class BasicOmniOpMode_Linear extends LinearOpMode {
 
     // Declare OpMode members for each of the 4 motors.

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

@@ -1,6 +1,5 @@
-package org.firstinspires.ftc.teamcode.cometbots.poc;
+package org.firstinspires.ftc.teamcode.cometbots;
 
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
@@ -28,7 +27,6 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
-@Disabled
 @Autonomous(name = "BlueBasketAuto", group = "Autonomous Pathing Tuning")
 public class BlueBasketAuto extends OpMode {
     private Telemetry telemetryA;

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

@@ -1,17 +1,15 @@
-package org.firstinspires.ftc.teamcode.cometbots.poc;
+package org.firstinspires.ftc.teamcode.cometbots;
 
 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.Disabled;
 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.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierPoint;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
 
@@ -27,7 +25,6 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
-@Disabled
 @Autonomous(name = "BluebAutoV1", group = "Autonomous Pathing Tuning")
 public class BluebAutoV1 extends OpMode {
     private Telemetry telemetryA;
@@ -228,14 +225,6 @@ public class BluebAutoV1 extends OpMode {
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(90)).build();
 
-
-        follower.holdPoint(
-                new BezierPoint(
-                        new Point(13.821, 134.839, Point.CARTESIAN)
-                ),
-                90
-        );
-
         follower.followPath(path);
         telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
         telemetryA.update();
@@ -250,7 +239,7 @@ public class BluebAutoV1 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/cometbots/BluenbAutov1.java

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

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/ArmTest.java

@@ -48,7 +48,7 @@ public class ArmTest extends LinearOpMode {
         /*
          * Instantiate Arm
          */
-        ArmSubsystem arm = new ArmSubsystem(hardwareMap, telemetry);
+        ArmSubsystem arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
 
         /*
          * Instantiate gamepad state holders
@@ -67,11 +67,11 @@ public class ArmTest extends LinearOpMode {
             currentGamepad1.copy(gamepad1);
 
             if (currentGamepad1.circle && !previousGamepad1.circle) {
-                arm.toParkPosition();
+                arm.parkArm();
             }
 
             if (currentGamepad1.square && !previousGamepad1.square) {
-                arm.toBucketPosition();
+                arm.engageArm();
             }
 
             if (currentGamepad1.cross && !previousGamepad1.cross) {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/ClawTest.java

@@ -48,7 +48,7 @@ public class ClawTest extends LinearOpMode {
         /*
          * Instantiate Claw
          */
-        ClawSubsystem claw = new ClawSubsystem(hardwareMap, telemetry);
+        ClawSubsystem claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.OPEN);
 
         /*
          * Instantiate gamepad state holders

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/LiftRawTest.java

@@ -0,0 +1,124 @@
+/* Copyright (c) 2021 FIRST. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted (subject to the limitations in the disclaimer below) provided that
+ * the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this list
+ * of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice, this
+ * list of conditions and the following disclaimer in the documentation and/or
+ * other materials provided with the distribution.
+ *
+ * Neither the name of FIRST nor the names of its contributors may be used to endorse or
+ * promote products derived from this software without specific prior written permission.
+ *
+ * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
+ * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+package org.firstinspires.ftc.teamcode.cometbots.tests;
+
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.Gamepad;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+@TeleOp(name = "Lift Raw Test", group = "Debug")
+public class LiftRawTest extends LinearOpMode {
+
+    // Declare OpMode members for each of the 4 motors.
+    private final ElapsedTime runtime = new ElapsedTime();
+
+    private final int MIN_POINT = 0;
+    private final int MAX_POINT = 3700;
+
+    @Override
+    public void runOpMode() {
+
+        /*
+         * Instantiate Lift
+         */
+        DcMotor liftDrive = hardwareMap.get(DcMotor.class, "lift-motor");
+        liftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        liftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        /*
+         * Instantiate gamepad state holders
+         */
+        Gamepad currentGamepad1 = new Gamepad();
+        Gamepad previousGamepad1 = new Gamepad();
+
+        waitForStart();
+        runtime.reset();
+
+
+        // run until the end of the match (driver presses STOP)
+        while (opModeIsActive()) {
+
+            previousGamepad1.copy(currentGamepad1);
+            currentGamepad1.copy(gamepad1);
+
+            liftDrive.setPower(.5);
+
+            // Max position is 6800, safely setting to 6500
+
+            if (currentGamepad1.square && !previousGamepad1.square) {
+                liftDrive.setTargetPosition(MIN_POINT);
+                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            }
+
+            if (currentGamepad1.triangle && !previousGamepad1.triangle) {
+                liftDrive.setTargetPosition(1500);
+                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            }
+
+            if (currentGamepad1.circle && !previousGamepad1.circle) {
+                liftDrive.setTargetPosition(2750);
+                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            }
+
+            if (currentGamepad1.cross && !previousGamepad1.cross) {
+                liftDrive.setTargetPosition(MAX_POINT);
+                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            }
+
+            if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
+                int newPosition = liftDrive.getCurrentPosition() - 125;
+                if (newPosition < MIN_POINT) {
+                    liftDrive.setTargetPosition(MIN_POINT);
+                } else {
+                    liftDrive.setTargetPosition(newPosition);
+                }
+                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            }
+
+            if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
+                int newPosition = liftDrive.getCurrentPosition() + 125;
+                if (newPosition > MAX_POINT) {
+                    liftDrive.setTargetPosition(MAX_POINT);
+                } else {
+                    liftDrive.setTargetPosition(newPosition);
+                }
+                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            }
+
+            // Show the elapsed game time and wheel power.
+            telemetry.addData("Status", "Run Time: " + runtime.toString());
+            telemetry.addData("Lift Drive Position", liftDrive.getCurrentPosition());
+            telemetry.update();
+        }
+    }
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/LiftTest.java

@@ -29,26 +29,32 @@
 
 package org.firstinspires.ftc.teamcode.cometbots.tests;
 
-import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.Gamepad;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
-import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.LiftSubsystem;
 
 @TeleOp(name = "Lift Test", group = "Debug")
 public class LiftTest extends LinearOpMode {
 
+    // Declare OpMode members for each of the 4 motors.
     private final ElapsedTime runtime = new ElapsedTime();
 
+    private final int MIN_POINT = 0;
+    // 2000 ~ 2500
+
+    // 3750 max
+    private final int MAX_POINT = 6500;
+
     @Override
     public void runOpMode() {
 
         /*
          * Instantiate Lift
          */
-        LiftActionsSubsystem lift = new LiftActionsSubsystem(hardwareMap);
+        LiftSubsystem lift = new LiftSubsystem(hardwareMap);
 
         /*
          * Instantiate gamepad state holders
@@ -68,29 +74,21 @@ public class LiftTest extends LinearOpMode {
             currentGamepad1.copy(gamepad1);
 
             if (currentGamepad1.square && !previousGamepad1.square) {
-                Actions.runBlocking(lift.toFloorPosition());
+                lift.toFloor();
             }
 
             if (currentGamepad1.triangle && !previousGamepad1.triangle) {
-                Actions.runBlocking(lift.toHighBucketPosition());
+                lift.toHighBucket();
             }
 
             if (currentGamepad1.circle && !previousGamepad1.circle) {
-                Actions.runBlocking(lift.toLowBucketPosition());
+                lift.toLowBucket();
             }
 
             if (currentGamepad1.cross && !previousGamepad1.cross) {
                 lift.switchState();
             }
 
-            if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
-                lift.setPosition(lift.getPosition() + 25);
-            }
-
-            if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
-                lift.setPosition(lift.getPosition() - 25);
-            }
-
             // Show the elapsed game time and wheel power.
             telemetry.addData("Status", "Run Time: " + runtime.toString());
             telemetry.addData("Lift Drive Position", lift.getPosition());

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/tests/WristTest.java

@@ -29,13 +29,11 @@
 
 package org.firstinspires.ftc.teamcode.cometbots.tests;
 
-import com.acmerobotics.roadrunner.ftc.Actions;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.hardware.Gamepad;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
-import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
 import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
 
 @TeleOp(name = "Wrist Test", group = "Debug")
@@ -50,7 +48,7 @@ public class WristTest extends LinearOpMode {
         /*
          * Instantiate Wrist
          */
-        WristActionsSubsystem wrist = new WristActionsSubsystem(hardwareMap);
+        WristSubsystem wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
 
         /*
          * Instantiate gamepad state holders
@@ -69,11 +67,11 @@ public class WristTest extends LinearOpMode {
             currentGamepad1.copy(gamepad1);
 
             if (currentGamepad1.square && !previousGamepad1.square) {
-                Actions.runBlocking(wrist.toBucketPosition());
+                wrist.bucketWrist();
             }
 
             if (currentGamepad1.circle && !previousGamepad1.circle) {
-                Actions.runBlocking(wrist.toFloorPosition());
+                wrist.floorWrist();
             }
 
             if (currentGamepad1.cross && !previousGamepad1.cross) {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/configs/RobotConstants.java

@@ -4,21 +4,19 @@ import com.acmerobotics.dashboard.config.Config;
 
 @Config
 public class RobotConstants {
-    public final static double clawClose = 1.00;
-    public final static double clawOpen = 0.05;
+    public static double clawClose = 1.00;
+    public static double clawOpen = 0.05;
 
-    public final static double armFloor = 0.45;
-    public final static double armSubmarine = 0.375;
-    public final static double armPark = 0.0;
-    public final static double armBucket = 0.15;
+    public static double armEngage = 0.5;
+    public static double armPark = 0.125;
+    public static double armBucket = 0.175;
 
-    public final static double wristFloor = 0.7;
-    public final static double wristBucket = 0.215;
-
-    public final static int liftToFloorPos = 0;
-    public final static int liftToFloatPos = 150;
-    public final static int liftToSubmarinePos = 250;
-    public final static int liftToLowBucketPos = 2250;
-    public final static int liftToHighBucketPos = 3850;
-    public final static double liftPower = .625;
+    public static double wristFloor = 0.625;
+    public static double wristBucket = 0.215;
+    public static int liftToFloorPos = 20;
+    public static int liftToFloatPos = 150;
+    public static int liftToLowBucketPos = 2250;
+    public static int liftToHighBucketPos = 3900;
+    public static double liftPower = .45;
+    public static int liftToHoverState = 60;
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/Auto.java

@@ -36,9 +36,9 @@ public class Auto {
     public int caseState = 1;
 
     public Auto(HardwareMap hardwareMap, Telemetry telemetry, Follower follower) {
-        claw = new ClawSubsystem(hardwareMap, telemetry);
-        arm = new ArmSubsystem(hardwareMap, telemetry);
-        wrist = new WristSubsystem(hardwareMap, telemetry);
+        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
+        arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
+        wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
 
         this.follower = follower;
         this.telemetry = telemetry;
@@ -77,13 +77,13 @@ public class Auto {
                 break;
             case 2:
                 if (clawTimer.getElapsedTimeSeconds() > 2) {
-                    arm.toFloorPosition();
+                    arm.engageArm();
                     caseState = 3;
                 }
                 break;
             case 3:
                 if (armTimer.getElapsedTimeSeconds() > 4) {
-                    wrist.toFloorPosition();
+                    wrist.floorWrist();
                     caseState = 4;
                 }
                 break;
@@ -95,8 +95,8 @@ public class Auto {
                 break;
             case 5:
                 if (armTimer.getElapsedTimeSeconds() > 8) {
-                    arm.toBucketPosition();
-                    wrist.toBucketPosition();
+                    arm.bucketArm();
+                    wrist.bucketWrist();
                     caseState = 6;
                 }
                 break;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.java

@@ -1,185 +0,0 @@
-package org.firstinspires.ftc.teamcode.runmodes;
-
-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.ArmActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.ClawActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
-
-public class CometBotTeleopCompetition {
-
-    /*
-    Subsystems
-     */
-    private MotorsSubsystem motors;
-    public ClawActionsSubsystem claw;
-    public ArmActionsSubsystem arm;
-    public WristActionsSubsystem wrist;
-    public LiftActionsSubsystem lift;
-
-    /*
-    Controllers
-     */
-    public Gamepad GP1;
-    public Gamepad GP2;
-    public Gamepad currentGP1;
-    public Gamepad previousGP1;
-    public Gamepad currentGP2;
-    public Gamepad previousGP2;
-    private Telemetry telemetry;
-    public FieldStates fieldStates;
-
-    private Follower follower;
-
-    public CometBotTeleopCompetition(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
-        this.motors = new MotorsSubsystem(hardwareMap, telemetry, .55);
-        this.claw = new ClawActionsSubsystem(hardwareMap);
-        this.arm = new ArmActionsSubsystem(hardwareMap);
-        this.wrist = new WristActionsSubsystem(hardwareMap);
-        this.lift = new LiftActionsSubsystem(hardwareMap);
-        this.GP1 = gp1;
-        this.GP2 = gp2;
-        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 void init() {
-        this.motors.init();
-        this.claw.init();
-        this.arm.init();
-        this.wrist.init();
-        this.lift.init();
-        this.fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-        follower.setMaxPower(.75);
-        follower.startTeleopDrive();
-    }
-
-    public void update() {
-        this.previousGP1.copy(currentGP1);
-        this.currentGP1.copy(this.GP1);
-        this.previousGP2.copy(currentGP2);
-        this.currentGP2.copy(this.GP2);
-
-        this.toHighBucketScore();
-        this.toLowBucketScore();
-        this.toArmParkPosition();
-        this.toArmParkThenSwitchBetweenSubmarineAndFloorPosition();
-        this.clawControl();
-
-//        this.motors.calculateTrajectory(this.GP1);
-        follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x);
-        follower.update();
-        this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
-        this.telemetry.addData("Claw State", this.claw.getState());
-        this.telemetry.addData("Claw Position", this.claw.getPosition());
-        this.telemetry.addData("Wrist State", this.wrist.getState());
-        this.telemetry.addData("Arm State", this.arm.getState());
-        this.telemetry.addData("Lift State", this.lift.getState());
-        this.telemetry.addData("Lift Position", this.lift.getPosition());
-    }
-
-    /*
-    Controller: 1
-    Button: A
-    Action: On button press, Arm hovers the floor with wrist parallel to arm
-     */
-    public void toHighBucketScore() {
-        if (this.currentGP1.triangle && !this.previousGP1.triangle) {
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-            Actions.runBlocking(new SequentialAction(
-                    this.wrist.toFloorPosition(),
-                    this.arm.toParkPosition(),
-                    this.lift.toHighBucketPosition(),
-                    new SleepAction(.5),
-                    this.arm.toBucketPosition(),
-                    new SleepAction(.5),
-                    this.wrist.toBucketPosition(),
-                    new SleepAction(.5),
-                    this.claw.openClaw(),
-                    new SleepAction(.5),
-                    this.wrist.toFloorPosition(),
-                    new SleepAction(.5),
-                    this.arm.toParkPosition(),
-                    this.lift.toFloorPosition()
-            ));
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-        }
-    }
-
-    public void toLowBucketScore() {
-        if (this.currentGP1.circle && !this.previousGP1.circle) {
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-            Actions.runBlocking(new SequentialAction(
-                    this.wrist.toFloorPosition(),
-                    this.arm.toParkPosition(),
-                    this.lift.toLowBucketPosition(),
-                    new SleepAction(.5),
-                    this.arm.toBucketPosition(),
-                    new SleepAction(.5),
-                    this.wrist.toBucketPosition(),
-                    new SleepAction(.5),
-                    this.claw.openClaw(),
-                    new SleepAction(.5),
-                    this.wrist.toFloorPosition(),
-                    new SleepAction(.5),
-                    this.arm.toParkPosition(),
-                    this.lift.toFloorPosition()
-            ));
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-        }
-    }
-
-    public void clawControl() {
-        if (this.currentGP1.right_bumper && !this.previousGP1.right_bumper) {
-            this.claw.switchState();
-        }
-    }
-
-    public void toArmParkPosition() {
-        if (this.currentGP1.square && !this.previousGP1.square) {
-            Actions.runBlocking(this.arm.toParkPosition());
-        }
-    }
-
-    public void toArmParkThenSwitchBetweenSubmarineAndFloorPosition() {
-        if (this.currentGP1.cross && !previousGP1.cross) {
-            if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {
-                Actions.runBlocking(
-                        new SequentialAction(
-                                this.arm.toSubmarinePosition(),
-                                this.wrist.toFloorPosition()
-                        )
-                );
-            } else if (this.arm.getState() == ArmActionsSubsystem.ArmState.SUBMARINE) {
-                Actions.runBlocking(
-                        new SequentialAction(
-                                this.arm.toFloorPosition(),
-                                this.wrist.toFloorPosition()
-                        )
-                );
-            } else if (this.arm.getState() == ArmActionsSubsystem.ArmState.FLOOR) {
-                Actions.runBlocking(
-                        new SequentialAction(
-                                this.arm.toSubmarinePosition(),
-                                this.wrist.toFloorPosition()
-                        )
-                );
-            }
-        }
-    }
-
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunMode.java

@@ -1,182 +0,0 @@
-package org.firstinspires.ftc.teamcode.runmodes;
-
-import com.qualcomm.robotcore.hardware.Gamepad;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.states.FieldStates;
-import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.LiftSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
-import org.firstinspires.ftc.teamcode.util.action.Actions;
-import org.firstinspires.ftc.teamcode.util.action.SequentialAction;
-import org.firstinspires.ftc.teamcode.util.action.SleepAction;
-
-public class DevTeleopRunMode {
-
-    /*
-    Subsystems
-     */
-    private MotorsSubsystem motors;
-    public ClawSubsystem claw;
-    public ArmSubsystem arm;
-    public WristSubsystem wrist;
-    public LiftSubsystem lift;
-
-    /*
-    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;
-
-    public DevTeleopRunMode(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
-        this.motors = new MotorsSubsystem(hardwareMap, telemetry, .55);
-        this.claw = new ClawSubsystem(hardwareMap, telemetry);
-        this.arm = new ArmSubsystem(hardwareMap, telemetry);
-        this.wrist = new WristSubsystem(hardwareMap, telemetry);
-        this.lift = new LiftSubsystem(hardwareMap, telemetry);
-        this.GP1 = gp1;
-        this.GP2 = gp2;
-        this.telemetry = telemetry;
-        this.currentGP1 = new Gamepad();
-        this.currentGP2 = new Gamepad();
-        this.previousGP1 = new Gamepad();
-        this.previousGP2 = new Gamepad();
-        this.fieldStates = new FieldStates();
-    }
-
-    public void init() {
-        this.motors.init();
-        this.claw.init();
-        this.arm.init();
-        this.wrist.init();
-        this.lift.init();
-    }
-
-    public void update() {
-        this.previousGP1.copy(currentGP1);
-        this.currentGP1.copy(this.GP1);
-        this.previousGP2.copy(currentGP2);
-        this.currentGP2.copy(this.GP2);
-        this.toTravelfromField();
-        this.thePickup();
-        this.toFieldFromBucketScore();
-        this.toLowBucketScore();
-        this.toHighBucketScore();
-        this.toHold();
-        this.motors.calculateTrajectory(this.GP1);
-        this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
-        this.telemetry.addData("Claw State", this.claw.getState());
-        this.telemetry.addData("Claw Position", this.claw.getPosition());
-        this.telemetry.addData("Wrist State", this.wrist.getState());
-        this.telemetry.addData("Arm State", this.arm.getState());
-        this.telemetry.addData("Lift State", this.lift.getState());
-        this.telemetry.addData("Lift Position", this.lift.getPosition());
-    }
-
-    /*
-    Controller: 1
-    Button: A
-    Action: On button press, Arm hovers the floor with wrist parallel to arm
-     */
-    public void toTravelfromField() {
-        if (this.currentGP1.dpad_down && !this.previousGP1.dpad_down) {
-            if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.TRAVELING &&
-                    this.lift.getPosition() < 40) {
-                Actions.runBlocking(new SequentialAction(
-                        this.wrist.toFloorPosition,
-                        new SleepAction(.75),
-                        this.arm.toFloorPosition
-                ));
-                fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-            }
-        }
-    }
-
-    /*
-    Controller: 1
-    Button: Right Bumper
-    Action: On button press, open and closes claw
-     */
-    public void thePickup() {
-        if (this.currentGP1.right_bumper && !this.previousGP1.right_bumper) {
-            this.claw.switchState();
-        }
-    }
-
-    /*
-   Controller: 1
-   Button: Right Bumper
-   Action: On button press, open and closes claw
-    */
-    public void toHold() {
-        if (this.currentGP1.left_bumper && !this.previousGP1.left_bumper) {
-            Actions.runBlocking(new SequentialAction(
-                    arm.toParkPosition,
-                    wrist.toFloorPosition
-            ));
-        }
-    }
-
-    /*
-    Controller: 2
-    Button: Y
-    Action: On button press, lift to low bucket height,
-            arm to bucket position, wrist to bucket position
-     */
-    public void toLowBucketScore() {
-        if (this.currentGP1.a && !this.previousGP1.a) {
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-            Actions.runBlocking(new SequentialAction(
-                    lift.toLowBucket,
-                    arm.toBucketPosition,
-                    wrist.toBucketPosition
-            ));
-        }
-    }
-
-    /*
-    Controller: 2
-    Button: A
-    Action: On button press, lift to low bucket height,
-            arm to bucket position, wrist to bucket position
-     */
-    public void toHighBucketScore() {
-        if (this.currentGP1.b && !this.previousGP1.b) {
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-            Actions.runBlocking(new SequentialAction(
-                    lift.toHighBucket,
-                    arm.toBucketPosition,
-                    wrist.toBucketPosition
-            ));
-        }
-    }
-
-    /*
-    Controller: 2
-    Button: Direction Pad DOWN
-    Action: On directional press, lift to floor height,
-            arm to bucket position, wrist to floor position
-     */
-    public void toFieldFromBucketScore() {
-        if (this.currentGP1.dpad_right && !this.previousGP1.dpad_right) {
-            if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.BUCKET) {
-                Actions.runBlocking(new SequentialAction(
-                        lift.toFloor,
-                        arm.toBucketPosition,
-                        wrist.toFloorPosition
-                ));
-//                fieldStates.setFieldLocation(FieldStates.FieldLocation.FIELD);
-            }
-        }
-    }
-
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/DevTeleopRunModeCompetition.java

@@ -1,185 +0,0 @@
-package org.firstinspires.ftc.teamcode.runmodes;
-
-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.ArmActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.ClawActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
-
-public class DevTeleopRunModeCompetition {
-
-    /*
-    Subsystems
-     */
-    private MotorsSubsystem motors;
-    public ClawActionsSubsystem claw;
-    public ArmActionsSubsystem arm;
-    public WristActionsSubsystem wrist;
-    public LiftActionsSubsystem lift;
-
-    /*
-    Controllers
-     */
-    public Gamepad GP1;
-    public Gamepad GP2;
-    public Gamepad currentGP1;
-    public Gamepad previousGP1;
-    public Gamepad currentGP2;
-    public Gamepad previousGP2;
-    private Telemetry telemetry;
-    public FieldStates fieldStates;
-
-    private Follower follower;
-
-    public DevTeleopRunModeCompetition(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
-        this.motors = new MotorsSubsystem(hardwareMap, telemetry, .55);
-        this.claw = new ClawActionsSubsystem(hardwareMap);
-        this.arm = new ArmActionsSubsystem(hardwareMap);
-        this.wrist = new WristActionsSubsystem(hardwareMap);
-        this.lift = new LiftActionsSubsystem(hardwareMap);
-        this.GP1 = gp1;
-        this.GP2 = gp2;
-        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 void init() {
-        this.motors.init();
-        this.claw.init();
-        this.arm.init();
-        this.wrist.init();
-        this.lift.init();
-        this.fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-        follower.setMaxPower(.75);
-        follower.startTeleopDrive();
-    }
-
-    public void update() {
-        this.previousGP1.copy(currentGP1);
-        this.currentGP1.copy(this.GP1);
-        this.previousGP2.copy(currentGP2);
-        this.currentGP2.copy(this.GP2);
-
-        this.toHighBucketScore();
-        this.toLowBucketScore();
-        this.toArmParkPosition();
-        this.toArmParkThenSwitchBetweenSubmarineAndFloorPosition();
-        this.clawControl();
-
-//        this.motors.calculateTrajectory(this.GP1);
-        follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x);
-        follower.update();
-        this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
-        this.telemetry.addData("Claw State", this.claw.getState());
-        this.telemetry.addData("Claw Position", this.claw.getPosition());
-        this.telemetry.addData("Wrist State", this.wrist.getState());
-        this.telemetry.addData("Arm State", this.arm.getState());
-        this.telemetry.addData("Lift State", this.lift.getState());
-        this.telemetry.addData("Lift Position", this.lift.getPosition());
-    }
-
-    /*
-    Controller: 1
-    Button: A
-    Action: On button press, Arm hovers the floor with wrist parallel to arm
-     */
-    public void toHighBucketScore() {
-        if (this.currentGP1.triangle && !this.previousGP1.triangle) {
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-            Actions.runBlocking(new SequentialAction(
-                    this.wrist.toFloorPosition(),
-                    this.arm.toParkPosition(),
-                    this.lift.toHighBucketPosition(),
-                    new SleepAction(.5),
-                    this.arm.toBucketPosition(),
-                    new SleepAction(.5),
-                    this.wrist.toBucketPosition(),
-                    new SleepAction(.5),
-                    this.claw.openClaw(),
-                    new SleepAction(.5),
-                    this.wrist.toFloorPosition(),
-                    new SleepAction(.5),
-                    this.arm.toParkPosition(),
-                    this.lift.toFloorPosition()
-            ));
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-        }
-    }
-
-    public void toLowBucketScore() {
-        if (this.currentGP1.circle && !this.previousGP1.circle) {
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-            Actions.runBlocking(new SequentialAction(
-                    this.wrist.toFloorPosition(),
-                    this.arm.toParkPosition(),
-                    this.lift.toLowBucketPosition(),
-                    new SleepAction(.5),
-                    this.arm.toBucketPosition(),
-                    new SleepAction(.5),
-                    this.wrist.toBucketPosition(),
-                    new SleepAction(.5),
-                    this.claw.openClaw(),
-                    new SleepAction(.5),
-                    this.wrist.toFloorPosition(),
-                    new SleepAction(.5),
-                    this.arm.toParkPosition(),
-                    this.lift.toFloorPosition()
-            ));
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-        }
-    }
-
-    public void clawControl() {
-        if (this.currentGP1.right_bumper && !this.previousGP1.right_bumper) {
-            this.claw.switchState();
-        }
-    }
-
-    public void toArmParkPosition() {
-        if (this.currentGP1.square && !this.previousGP1.square) {
-            Actions.runBlocking(this.arm.toParkPosition());
-        }
-    }
-
-    public void toArmParkThenSwitchBetweenSubmarineAndFloorPosition() {
-        if (this.currentGP1.cross && !previousGP1.cross) {
-            if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {
-                Actions.runBlocking(
-                        new SequentialAction(
-                                this.arm.toSubmarinePosition(),
-                                this.wrist.toFloorPosition()
-                        )
-                );
-            } else if (this.arm.getState() == ArmActionsSubsystem.ArmState.SUBMARINE) {
-                Actions.runBlocking(
-                        new SequentialAction(
-                                this.arm.toFloorPosition(),
-                                this.wrist.toFloorPosition()
-                        )
-                );
-            } else if (this.arm.getState() == ArmActionsSubsystem.ArmState.FLOOR) {
-                Actions.runBlocking(
-                        new SequentialAction(
-                                this.arm.toSubmarinePosition(),
-                                this.wrist.toFloorPosition()
-                        )
-                );
-            }
-        }
-    }
-
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/Teleop.java

@@ -36,7 +36,7 @@ public class Teleop {
 
     public Teleop(HardwareMap hardwareMap, Telemetry telemetry, Follower follower, Gamepad gamepad1) {
 
-        claw = new ClawSubsystem(hardwareMap, telemetry);
+        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
         initMotors(hardwareMap);
 
         this.follower = follower;

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/ArmActionsSubsystem.java

@@ -1,88 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armBucket;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armFloor;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armPark;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armSubmarine;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.ServoImplEx;
-
-public class ArmActionsSubsystem {
-
-    public enum ArmState {
-        PARK, FLOOR, BUCKET, SUBMARINE
-    }
-
-    private ServoImplEx arm;
-    private ArmState state;
-
-    public ArmActionsSubsystem(HardwareMap hardwareMap) {
-        this.arm = hardwareMap.get(ServoImplEx.class, "arm-servo");
-    }
-
-    public class MoveToPosition implements Action {
-        private double positionValue;
-        private ArmState positionState;
-
-        public MoveToPosition(double positionValue, ArmState positionState) {
-            this.positionValue = positionValue;
-            this.positionState = positionState;
-        }
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-            arm.setPosition(positionValue);
-            setState(positionState);
-            telemetryPacket.put("Arm State", positionState);
-            return false;
-        }
-    }
-
-    public Action toParkPosition() {
-        return new MoveToPosition(armPark, ArmState.PARK);
-    }
-
-    public Action toSubmarinePosition() {
-        return new MoveToPosition(armSubmarine, ArmState.SUBMARINE);
-    }
-
-    public Action toFloorPosition() {
-        return new MoveToPosition(armFloor, ArmState.FLOOR);
-    }
-
-    public Action toBucketPosition() {
-        return new MoveToPosition(armBucket, ArmState.BUCKET);
-    }
-
-    public void setState(ArmState armState) {
-        this.state = armState;
-    }
-
-    public ArmState getState() {
-        return this.state;
-    }
-
-    public void init() {
-        this.arm.resetDeviceConfigurationForOpMode();
-        Actions.runBlocking(this.toParkPosition());
-    }
-
-    public void start() {
-        Actions.runBlocking(this.toParkPosition());
-    }
-
-    public double getPosition() {
-        return this.arm.getPosition();
-    }
-
-    public void setPosition(double position) {
-        this.arm.setPosition(position);
-    }
-
-}

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

@@ -1,65 +1,68 @@
 package org.firstinspires.ftc.teamcode.subsystem;
 
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armBucket;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armFloor;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armEngage;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armPark;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armBucket;
 
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.ServoImplEx;
 
-import org.firstinspires.ftc.robotcore.external.Telemetry;
 import org.firstinspires.ftc.teamcode.util.action.Actions;
 import org.firstinspires.ftc.teamcode.util.action.RunAction;
 
 public class ArmSubsystem {
 
     public enum ArmState {
-        PARK, FLOOR, BUCKET
+        PARK, ENGAGE, BUCKET
     }
 
-    private ServoImplEx arm;
-    private ArmState state;
-    public RunAction toFloorPosition, toParkPosition, toBucketPosition;
-    private Telemetry telemetry;
+    public ServoImplEx arm;
+    public ArmState state;
+    public RunAction engageArm, parkArm, bucketArm;
 
-    public ArmSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
-        this.arm = hardwareMap.get(ServoImplEx.class, "arm-servo");
-        this.toParkPosition = new RunAction(this::toParkPosition);
-        this.toFloorPosition = new RunAction(this::toFloorPosition);
-        this.toBucketPosition = new RunAction(this::toBucketPosition);
-        this.telemetry = telemetry;
+    public ArmSubsystem(HardwareMap hardwareMap, ArmState armState) {
+        arm = hardwareMap.get(ServoImplEx.class, "arm-servo");
+        arm.resetDeviceConfigurationForOpMode();
+
+        this.state = armState;
+
+        parkArm = new RunAction(this::parkArm);
+        engageArm = new RunAction(this::engageArm);
+        bucketArm = new RunAction(this::bucketArm);
     }
 
     public void setState(ArmState armState) {
-        if (armState == ArmState.FLOOR) {
-            this.arm.setPosition(armFloor);
+        if (armState == ArmState.ENGAGE) {
+            arm.setPosition(armEngage);
+            this.state = ArmState.ENGAGE;
         } else if (armState == ArmState.PARK) {
-            this.arm.setPosition(armPark);
+            arm.setPosition(armPark);
+            this.state = ArmState.PARK;
         } else if (armState == ArmState.BUCKET) {
-            this.arm.setPosition(armBucket);
+            arm.setPosition(armBucket);
+            this.state = ArmState.BUCKET;
         }
-        this.state = armState;
     }
 
-    public void toFloorPosition() {
-        this.setState(ArmState.FLOOR);
+    public void engageArm() {
+        setState(ArmState.ENGAGE);
     }
 
-    public void toParkPosition() {
-        this.setState(ArmState.PARK);
+    public void parkArm() {
+        setState(ArmState.PARK);
     }
 
-    public void toBucketPosition() {
-        this.setState(ArmState.BUCKET);
+    public void bucketArm() {
+        setState(ArmState.BUCKET);
     }
 
     public void switchState() {
-        if (this.state == ArmState.FLOOR) {
-            this.setState(ArmState.PARK);
-        } else if (this.state == ArmState.PARK) {
-            this.setState(ArmState.BUCKET);
-        } else if (this.state == ArmState.BUCKET) {
-            this.setState(ArmState.FLOOR);
+        if (state == ArmState.ENGAGE) {
+            setState(ArmState.PARK);
+        } else if (state == ArmState.PARK) {
+            setState(ArmState.BUCKET);
+        } else if (state == ArmState.BUCKET) {
+            setState(ArmState.ENGAGE);
         }
     }
 
@@ -68,12 +71,11 @@ public class ArmSubsystem {
     }
 
     public void init() {
-        this.arm.resetDeviceConfigurationForOpMode();
-        Actions.runBlocking(this.toParkPosition);
+        Actions.runBlocking(parkArm);
     }
 
     public void start() {
-        Actions.runBlocking(this.toParkPosition);
+        Actions.runBlocking(parkArm);
     }
 
     public double getPosition() {

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

@@ -1,81 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawClose;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawOpen;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.Servo;
-
-public class ClawActionsSubsystem {
-
-    public enum ClawState {
-        CLOSED, OPEN
-    }
-
-    private Servo claw;
-    private ClawState state;
-
-    public ClawActionsSubsystem(HardwareMap hardwareMap) {
-        this.claw = hardwareMap.get(Servo.class, "claw-servo");
-    }
-
-    public class MoveToPosition implements Action {
-        private double positionValue;
-        private ClawState positionState;
-
-        public MoveToPosition(double positionValue, ClawState positionState) {
-            this.positionValue = positionValue;
-            this.positionState = positionState;
-        }
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-            setState(positionState);
-            claw.setPosition(positionValue);
-            telemetryPacket.put("Arm State", positionState);
-            return false;
-        }
-    }
-
-    public Action openClaw() {
-        return new MoveToPosition(clawOpen, ClawState.OPEN);
-    }
-
-    public Action closeClaw() {
-        return new MoveToPosition(clawClose, ClawState.CLOSED);
-    }
-
-    public void setState(ClawState clawState) {
-        this.state = clawState;
-    }
-
-    public ClawState getState() {
-        return this.state;
-    }
-
-    public void switchState() {
-        if (state == ClawState.CLOSED) {
-            Actions.runBlocking(openClaw());
-        } else if (state == ClawState.OPEN) {
-            Actions.runBlocking(closeClaw());
-        }
-    }
-
-    public void init() {
-        Actions.runBlocking(closeClaw());
-    }
-
-    public void start() {
-        Actions.runBlocking(closeClaw());
-    }
-
-    public double getPosition() {
-        return this.claw.getPosition();
-    }
-
-}

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

@@ -1,14 +1,12 @@
 package org.firstinspires.ftc.teamcode.subsystem;
 
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawClose;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawOpen;
-
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.Servo;
 
-import org.firstinspires.ftc.robotcore.external.Telemetry;
 import org.firstinspires.ftc.teamcode.util.action.Actions;
 import org.firstinspires.ftc.teamcode.util.action.RunAction;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawOpen;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawClose;
 
 public class ClawSubsystem {
 
@@ -19,22 +17,23 @@ public class ClawSubsystem {
     private Servo claw;
     private ClawState state;
     public RunAction openClaw, closeClaw;
-    public Telemetry telemetry;
 
-    public ClawSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
-        this.claw = hardwareMap.get(Servo.class, "claw-servo");
-        this.openClaw = new RunAction(this::openClaw);
-        this.closeClaw = new RunAction(this::closeClaw);
-        this.telemetry = telemetry;
+    public ClawSubsystem(HardwareMap hardwareMap, ClawState clawState) {
+        claw = hardwareMap.get(Servo.class, "claw-servo");
+        this.state = clawState;
+
+        openClaw = new RunAction(this::openClaw);
+        closeClaw = new RunAction(this::closeClaw);
     }
 
     public void setState(ClawState clawState) {
         if (clawState == ClawState.CLOSED) {
             claw.setPosition(clawClose);
+            this.state = ClawState.CLOSED;
         } else if (clawState == ClawState.OPEN) {
             claw.setPosition(clawOpen);
+            this.state = ClawState.OPEN;
         }
-        this.state = clawState;
     }
 
     public ClawState getState() {
@@ -65,8 +64,4 @@ public class ClawSubsystem {
         Actions.runBlocking(closeClaw);
     }
 
-    public double getPosition() {
-        return this.claw.getPosition();
-    }
-
 }

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

@@ -1,102 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloorPos;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToLowBucketPos;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-public class LiftActionsSubsystem {
-
-    public DcMotor lift;
-
-    public enum LiftState {
-        FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT, SUBMARINE
-    }
-
-    private LiftState liftState;
-
-    public LiftActionsSubsystem(HardwareMap hardwareMap) {
-        lift = hardwareMap.get(DcMotor.class, "lift-motor");
-    }
-
-    public class MoveToPosition implements Action {
-        private int positionValue;
-        private LiftState positionState;
-
-        public MoveToPosition(int positionValue, LiftState positionState) {
-            this.positionValue = positionValue;
-            this.positionState = positionState;
-        }
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-            setState(positionState);
-            lift.setTargetPosition(positionValue);
-            lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            telemetryPacket.put("Lift State", positionState);
-            telemetryPacket.put("Lift Position", lift.getCurrentPosition());
-            boolean result = lift.getTargetPosition() - 15 < lift.getCurrentPosition() &&
-                    lift.getCurrentPosition() < lift.getTargetPosition() + 15;
-            return !result;
-        }
-    }
-
-    public Action toFloorPosition() {
-        return new MoveToPosition(liftToFloorPos, LiftState.FLOOR);
-    }
-
-    public Action toLowBucketPosition() {
-        return new MoveToPosition(liftToLowBucketPos, LiftState.LOW_BUCKET);
-    }
-
-    public Action toHighBucketPosition() {
-        return new MoveToPosition(liftToHighBucketPos, LiftState.HIGH_BUCKET);
-    }
-
-    public void switchState() {
-        if (this.liftState == LiftState.FLOOR) {
-            Actions.runBlocking(toLowBucketPosition());
-        } else if (this.liftState == LiftState.LOW_BUCKET) {
-            Actions.runBlocking(toHighBucketPosition());
-        } else if (this.liftState == LiftState.HIGH_BUCKET) {
-            Actions.runBlocking(toFloorPosition());
-        }
-    }
-
-    public void init() {
-        lift.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        lift.setDirection(DcMotorSimple.Direction.REVERSE);
-        lift.setPower(liftPower);
-    }
-
-    private void setState(LiftState liftState) {
-        this.liftState = liftState;
-    }
-
-    public LiftState getState() {
-        return this.liftState;
-    }
-
-    public int getPosition() {
-        return lift.getCurrentPosition();
-    }
-
-    public void setPosition(int position) {
-        lift.setTargetPosition(position);
-        lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-    }
-
-    public void start() {
-        Actions.runBlocking(toFloorPosition());
-    }
-
-}

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

@@ -1,38 +1,34 @@
 package org.firstinspires.ftc.teamcode.subsystem;
 
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToSubmarinePos;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloatPos;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloorPos;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToLowBucketPos;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHoverState;
 
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.util.action.Actions;
 import org.firstinspires.ftc.teamcode.util.action.RunAction;
 
 public class LiftSubsystem {
 
     public DcMotor lift;
-    public RunAction toFloor, toLowBucket, toHighBucket, toFloat;
+    public RunAction toFloor, toLowBucket, toHighBucket;
 
     public enum LiftState {
-        FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT
+        FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT, HOVER
     }
 
     private LiftState liftState;
-    private Telemetry telemetry;
 
-    public LiftSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
+    public LiftSubsystem(HardwareMap hardwareMap) {
         lift = hardwareMap.get(DcMotor.class, "lift-motor");
         toFloor = new RunAction(this::toFloor);
         toLowBucket = new RunAction(this::toLowBucket);
         toHighBucket = new RunAction(this::toHighBucket);
-        toFloat = new RunAction(this::toFloat);
-        this.telemetry = telemetry;
     }
 
     public void setTarget(int b) {
@@ -42,7 +38,7 @@ public class LiftSubsystem {
 
     public void switchState() {
         if (this.liftState == LiftState.FLOOR) {
-            this.toFloat();
+            this.toFloor();
         } else if (this.liftState == LiftState.FLOAT) {
             this.toLowBucket();
         } else if (this.liftState == LiftState.LOW_BUCKET) {
@@ -52,24 +48,29 @@ public class LiftSubsystem {
         }
     }
 
+     public void toHover() {
+        this.setTarget(liftToHoverState);
+        this.setState(LiftState.HOVER);
+    }
+
     public void toFloor() {
-        this.setState(LiftState.FLOOR);
         this.setTarget(liftToFloorPos);
+        this.setState(LiftState.FLOOR);
     }
 
     public void toFloat() {
+        this.setTarget(liftToFloatPos);
         this.setState(LiftState.FLOAT);
-        this.setTarget(liftToSubmarinePos);
     }
 
     public void toLowBucket() {
-        this.setState(LiftState.LOW_BUCKET);
         this.setTarget(liftToLowBucketPos);
+        this.setState(LiftState.LOW_BUCKET);
     }
 
     public void toHighBucket() {
-        this.setState(LiftState.HIGH_BUCKET);
         this.setTarget(liftToHighBucketPos);
+        this.setState(LiftState.HIGH_BUCKET);
     }
 
     public void init() {
@@ -82,14 +83,12 @@ public class LiftSubsystem {
         this.liftState = liftState;
     }
 
-    public LiftState getState() { return this.liftState; }
-
     public int getPosition() {
         return lift.getCurrentPosition();
     }
 
     public void start() {
-        Actions.runBlocking(toFloor);
+        this.toFloor();
     }
 
 }

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

@@ -26,7 +26,7 @@ public class MotorsSubsystem {
     public DcMotor backRightMotor;
 
     public enum TravelState {
-        STOPPED, MOVING
+        PARKED, BUCKET, SUBMARINE
     }
 
     public TravelState travelState;
@@ -60,8 +60,6 @@ public class MotorsSubsystem {
         backLeftMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         frontRightMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         backRightMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-
-        this.setState(TravelState.STOPPED);
     }
 
     public void setFrontLeftMotorPower(double power) {
@@ -118,7 +116,7 @@ public class MotorsSubsystem {
         // Show the elapsed game time and wheel power.
         this.telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
         this.telemetry.addData("Back  left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
-        this.telemetry.addData("Current State", this.getState());
+        this.telemetry.update();
     }
 
     public void setState(TravelState travelState) {
@@ -129,12 +127,4 @@ public class MotorsSubsystem {
         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);
-        }
-    }
 }

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

@@ -1,86 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristBucket;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristFloor;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.ServoImplEx;
-
-public class WristActionsSubsystem {
-
-    public enum WristState {
-        FLOOR, BUCKET
-    }
-
-    public ServoImplEx wrist;
-    public WristState state;
-
-    public WristActionsSubsystem(HardwareMap hardwareMap) {
-        this.wrist = hardwareMap.get(ServoImplEx.class, "wrist-servo");
-    }
-
-    public class MoveToPosition implements Action {
-        private double positionValue;
-        private WristState positionState;
-
-        public MoveToPosition(double positionValue, WristState positionState) {
-            this.positionValue = positionValue;
-            this.positionState = positionState;
-        }
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-            setState(positionState);
-            wrist.setPosition(positionValue);
-            telemetryPacket.put("Wrist State", positionState);
-            return false;
-        }
-    }
-
-    public Action toFloorPosition() {
-        return new MoveToPosition(wristFloor, WristState.FLOOR);
-    }
-
-    public Action toBucketPosition() {
-        return new MoveToPosition(wristBucket, WristState.BUCKET);
-    }
-
-    public void setState(WristState wristState) {
-        this.state = wristState;
-    }
-
-    public void switchState() {
-        if (state == WristState.FLOOR) {
-            Actions.runBlocking(this.toBucketPosition());
-        } else if (state == WristState.BUCKET) {
-            Actions.runBlocking(this.toFloorPosition());
-        }
-    }
-
-    public WristState getState() {
-        return this.state;
-    }
-
-    public void init() {
-        wrist.resetDeviceConfigurationForOpMode();
-        Actions.runBlocking(this.toFloorPosition());
-    }
-
-    public void start() {
-        Actions.runBlocking(this.toFloorPosition());
-    }
-
-    public void setPosition(double position) {
-        wrist.setPosition(position);
-    }
-
-    public double getPosition() {
-        return wrist.getPosition();
-    }
-
-}

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

@@ -6,7 +6,6 @@ import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristFloor;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.ServoImplEx;
 
-import org.firstinspires.ftc.robotcore.external.Telemetry;
 import org.firstinspires.ftc.teamcode.util.action.Actions;
 import org.firstinspires.ftc.teamcode.util.action.RunAction;
 
@@ -18,30 +17,33 @@ public class WristSubsystem {
 
     public ServoImplEx wrist;
     public WristState state;
-    public RunAction toFloorPosition, toBucketPosition;
-    public Telemetry telemetry;
+    public RunAction floorWrist, bucketWrist;
 
-    public WristSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
-        this.wrist = hardwareMap.get(ServoImplEx.class, "wrist-servo");
-        this.telemetry = telemetry;
-        toBucketPosition = new RunAction(this::toBucketPosition);
-        toFloorPosition = new RunAction(this::toFloorPosition);
+    public WristSubsystem(HardwareMap hardwareMap, WristState wristState) {
+        wrist = hardwareMap.get(ServoImplEx.class, "wrist-servo");
+        wrist.resetDeviceConfigurationForOpMode();
+
+        this.state = wristState;
+
+        bucketWrist = new RunAction(this::bucketWrist);
+        floorWrist = new RunAction(this::floorWrist);
     }
 
     public void setState(WristState wristState) {
         if (wristState == WristState.FLOOR) {
             wrist.setPosition(wristFloor);
+            this.state = WristState.FLOOR;
         } else if (wristState == WristState.BUCKET) {
             wrist.setPosition(wristBucket);
+            this.state = WristState.BUCKET;
         }
-        this.state = wristState;
     }
 
-    public void toFloorPosition() {
+    public void floorWrist() {
         setState(WristState.FLOOR);
     }
 
-    public void toBucketPosition() {
+    public void bucketWrist() {
         setState(WristState.BUCKET);
     }
 
@@ -58,12 +60,11 @@ public class WristSubsystem {
     }
 
     public void init() {
-        wrist.resetDeviceConfigurationForOpMode();
-        Actions.runBlocking(toFloorPosition);
+        Actions.runBlocking(floorWrist);
     }
 
     public void start() {
-        Actions.runBlocking(toFloorPosition);
+        Actions.runBlocking(floorWrist);
     }
 
     public double getPosition() {

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/Actions.java

@@ -15,7 +15,9 @@ public class Actions {
         while (b && !Thread.currentThread().isInterrupted()) {
             TelemetryPacket p = new TelemetryPacket();
             p.fieldOverlay().getOperations().addAll(c.getOperations());
+
             b = a.run(p);
+
             dash.sendTelemetryPacket(p);
         }
     }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/util/action/SleepAction.java

@@ -2,30 +2,31 @@ package org.firstinspires.ftc.teamcode.util.action;
 
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
 
+import java.util.Timer;
+import java.util.TimerTask;
+
 public class SleepAction implements Action {
-    private double dt;
-    private double beginTs = -1.0;
+    private final double dt;
+    private boolean isFinished = false;
 
     public SleepAction(double dt) {
         this.dt = dt;
     }
 
-    public static double now() {
-        return System.nanoTime() * 1e-9;
-    }
-
     @Override
     public boolean run(TelemetryPacket p) {
-        double t;
-        if (beginTs < 0) {
-            beginTs = now();
-            t = 0.0;
-        } else {
-            t = now() - beginTs;
+        if (!isFinished) {
+            Timer timer = new Timer();
+            timer.schedule(new TimerTask() {
+                @Override
+                public void run() {
+                    isFinished = true;
                 }
-        boolean output = t < dt;
-        System.out.println(t + ":" + now() + ":" + beginTs + ":" + output);
-
-        return t < dt;
+            }, (long) (dt * 1000));
+        } else {
+            isFinished = false; // Reset the flag after sleep is complete
+            return false; // Indicate that the action is finished
+        }
+        return true; // Indicate that the action is still running
     }
 }

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.roadrunner:core:1.0.0"
-    implementation "com.acmerobotics.roadrunner:actions:1.0.0"
-    implementation "com.acmerobotics.dashboard:dashboard:0.4.16"
-
+    implementation 'com.acmerobotics.dashboard:dashboard:0.4.5'
 }
+