Lightening the load and configured the robot with appropriate values (encoders/motors)

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

TeamCode/src/main/java/ServoPractice.java

@@ -1,27 +0,0 @@
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.Servo;
-
-public class ServoPractice extends OpMode {
-    //servo
-    Servo test_servo;
-
-
-    public void init(){
-        //hw map
-        test_servo = hardwareMap.get(Servo.class, "test_servo");
-    }
-    public void loop(){
-        //make it move
-        test_servo.setPosition(0);
-        try {
-            Thread.sleep(500);
-        } catch (InterruptedException e) {
-            throw new RuntimeException(e);
-        }
-        test_servo.setPosition(1);
-    }
-    public void stop(){
-
-    }
-}

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

@@ -1,122 +0,0 @@
-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/AutoExampleTwo.java

@@ -1,95 +0,0 @@
-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/CometBotDevAuto.java

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

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

@@ -0,0 +1,64 @@
+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

@@ -10,14 +10,12 @@ public class PedroConstants {
     /*
         Robot parameters
     */
-    // Turn localizer - -0.003
-
 
     // Robot motor configurations
-    public static final String FRONT_LEFT_MOTOR = "Drive front lt";
+    public static final String FRONT_LEFT_MOTOR = "front-left";
-    public static final String BACK_LEFT_MOTOR  = "Drive back lt";
+    public static final String BACK_LEFT_MOTOR = "back-left";
-    public static final String FRONT_RIGHT_MOTOR  = "Drive front rt";
+    public static final String FRONT_RIGHT_MOTOR = "front-right";
-    public static final String BACK_RIGHT_MOTOR  = "Drive back rt";
+    public static final String BACK_RIGHT_MOTOR = "back-right";
 
     // Robot motor direction
     public static final Direction FRONT_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
@@ -25,44 +23,55 @@ public class PedroConstants {
     public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
     public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
 
+    /*
+        Motor Max Power
+    */
+    public static final double MAX_POWER = .75;
+
     // Robot IMU configuration
     public static final String IMU = "imu";
 
     // Robot IMU placement
     public static final RevHubOrientationOnRobot.LogoFacingDirection IMU_LOGO_FACING_DIRECTION
-            = RevHubOrientationOnRobot.LogoFacingDirection.DOWN;
+            = RevHubOrientationOnRobot.LogoFacingDirection.LEFT;
     public static final RevHubOrientationOnRobot.UsbFacingDirection IMU_USB_FACING_DIRECTION
-            = RevHubOrientationOnRobot.UsbFacingDirection.LEFT;
+            = RevHubOrientationOnRobot.UsbFacingDirection.UP;
 
     // Robot encoders
-    public static final String LEFT_ENCODER = "encoder left";
+    // NOTE:  Encoders are plugged into the same ports as motors hence the weird names
-    public static final String RIGHT_ENCODER = "encoder right";
+    public static final String RIGHT_ENCODER = "front-left"; //2
-    public static final String BACK_ENCODER = "encoder back";
+    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.REVERSE;
+    public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;
-    public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD;
+    public static final double RIGHT_ENCODER_DIRECTION = Encoder.REVERSE;
     public static final double BACK_ENCODER_DIRECTION = 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
     */
-    // -0.0708
 
     // The weight of the robot in Kilograms
-    public static final double ROBOT_WEIGHT_IN_KG = 10.5;
+    public static final double ROBOT_WEIGHT_IN_KG = 9;
 
     // Maximum velocity of the robot going forward
-    public static final double ROBOT_SPEED_FORWARD = 51.4598;
+    public static final double ROBOT_SPEED_FORWARD = 51.5;
 
     // Maximum velocity of the robot going right
-    public static final double ROBOT_SPEED_LATERAL = 28.7119;
+    public static final double ROBOT_SPEED_LATERAL = 28.7;
 
     // Rate of deceleration when power is cut-off when the robot is moving forward
-    public static final double FORWARD_ZERO_POWER_ACCEL = -57.805;
+    public static final double FORWARD_ZERO_POWER_ACCEL = -59.8;
 
     // Rate of deceleration when power is cut-off when the robot is moving to the right
-    public static final double LATERAL_ZERO_POWER_ACCEL = -99.672;
+    public static final double LATERAL_ZERO_POWER_ACCEL = -99.7;
 
     // 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;

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

@@ -0,0 +1,122 @@
+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/SensorIMUOrthogonal.java

@@ -1,171 +0,0 @@
-/* Copyright (c) 2022 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;
-
-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.IMU_LOGO_FACING_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.IMU_USB_FACING_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.hardware.rev.RevHubOrientationOnRobot;
-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.DcMotorEx;
-import com.qualcomm.robotcore.hardware.IMU;
-
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
-import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
-
-/*
- * This OpMode shows how to use the new universal IMU interface. This
- * interface may be used with the BNO055 IMU or the BHI260 IMU. It assumes that an IMU is configured
- * on the robot with the name "imu".
- *
- * The sample will display the current Yaw, Pitch and Roll of the robot.<br>
- * With the correct orientation parameters selected, pitch/roll/yaw should act as follows:
- *   Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X) <br>
- *   Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y) <br>
- *   Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z) <br>
- *
- * The yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller)
- *
- * This specific sample assumes that the Hub is mounted on one of the three orthogonal planes
- * (X/Y, X/Z or Y/Z) and that the Hub has only been rotated in a range of 90 degree increments.
- *
- * Note: if your Hub is mounted on a surface angled at some non-90 Degree multiple (like 30) look at
- *       the alternative SensorIMUNonOrthogonal sample in this folder.
- *
- * This "Orthogonal" requirement means that:
- *
- * 1) The Logo printed on the top of the Hub can ONLY be pointing in one of six directions:
- *    FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT.
- *
- * 2) The USB ports can only be pointing in one of the same six directions:<br>
- *    FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT.
- *
- * So, To fully define how your Hub is mounted to the robot, you must simply specify:<br>
- *    logoFacingDirection<br>
- *    usbFacingDirection
- *
- * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
- * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
- *
- * Finally, choose the two correct parameters to define how your Hub is mounted and edit this OpMode
- * to use those parameters.
- */
-@TeleOp(name = "Sensor: IMU Orthogonal", group = "Sensor")
-@Disabled   // Comment this out to add to the OpMode list
-public class SensorIMUOrthogonal extends LinearOpMode {
-    // The IMU sensor object
-    IMU imu;
-    private Encoder leftEncoder;
-    private Encoder rightEncoder;
-    private Encoder strafeEncoder;
-
-    //----------------------------------------------------------------------------------------------
-    // Main logic
-    //----------------------------------------------------------------------------------------------
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-        // Retrieve and initialize the IMU.
-        // This sample expects the IMU to be in a REV Hub and named "imu".
-        imu = hardwareMap.get(IMU.class, PedroConstants.IMU);
-
-        // 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);
-
-        /* Define how the hub is mounted on the robot to get the correct Yaw, Pitch and Roll values.
-         *
-         * Two input parameters are required to fully specify the Orientation.
-         * The first parameter specifies the direction the printed logo on the Hub is pointing.
-         * The second parameter specifies the direction the USB connector on the Hub is pointing.
-         * All directions are relative to the robot, and left/right is as-viewed from behind the robot.
-         *
-         * If you are using a REV 9-Axis IMU, you can use the Rev9AxisImuOrientationOnRobot class instead of the
-         * RevHubOrientationOnRobot class, which has an I2cPortFacingDirection instead of a UsbFacingDirection.
-         */
-
-        /* The next two lines define Hub orientation.
-         * The Default Orientation (shown) is when a hub is mounted horizontally with the printed logo pointing UP and the USB port pointing FORWARD.
-         *
-         * To Do:  EDIT these two lines to match YOUR mounting configuration.
-         */
-        RevHubOrientationOnRobot.LogoFacingDirection logoDirection = IMU_LOGO_FACING_DIRECTION;
-        RevHubOrientationOnRobot.UsbFacingDirection usbDirection = IMU_USB_FACING_DIRECTION;
-
-        RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);
-
-        // Now initialize the IMU with this mounting orientation
-        // Note: if you choose two conflicting directions, this initialization will cause a code exception.
-        imu.initialize(new IMU.Parameters(orientationOnRobot));
-
-        // Loop and update the dashboard
-        while (!isStopRequested()) {
-
-            telemetry.addData("Hub orientation", "Logo=%s   USB=%s\n ", logoDirection, usbDirection);
-
-            // Check to see if heading reset is requested
-            if (gamepad1.y) {
-                telemetry.addData("Yaw", "Resetting\n");
-                imu.resetYaw();
-            } else {
-                telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n");
-            }
-
-            // Retrieve Rotational Angles and Velocities
-            YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
-            AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
-
-            telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
-            telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
-            telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
-            telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
-            telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
-            telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
-            telemetry.update();
-        }
-    }
-}

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

@@ -1,165 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-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.Servo;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-import org.firstinspires.ftc.robotcontroller.external.samples.UtilityOctoQuadConfigMenu;
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-
-
-@TeleOp(name = "ArmControl")
-public class SlideArm extends OpMode {
-
-
-
-    DcMotor Slide;
-    Servo ClawServo;
-    Servo ArmServo;
-    Servo WristServo;
-    boolean xPressed;
-    boolean yPressed;
-    boolean bPressed;
-    double ticks = 753.2;
-
-
-    public void init(){
-        Slide = hardwareMap.get(DcMotor.class, "SlideMotor");
-        ArmServo = hardwareMap.get(Servo.class,"WristServo");
-        WristServo = hardwareMap.get(Servo.class, "ArmServo");
-        ClawServo = hardwareMap.get(Servo.class, "ClawServo");
-        xPressed = false;
-        yPressed = false;
-        bPressed = false;
-    }
-
-    double power = 0;
-    double position = 1;
-
-    public void loop() {
-        Slide.setPower(-gamepad2.left_stick_y);
-        Slide.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        if (gamepad2.left_bumper) {
-            ClawServo.setPosition(0);
-        } else if (gamepad2.right_bumper) {
-            ClawServo.setPosition(1);
-        }
-
-        /*if(gamepad2.dpad_down){
-            WristServo.setPosition(0.78);
-            ArmServo.setPosition(0.55);
-        }
-        else if (gamepad2.dpad_up){
-            WristServo.setPosition(0.4);
-            ArmServo.setPosition(0.2);
-
-        }*/
-        if (gamepad2.a) {
-            Slide.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        }
-
-        if (gamepad2.dpad_down) {
-            SlideArm.ServoSteps(WristServo, 0.78, 4, 8);
-            try {
-                Thread.sleep(50);
-            } catch (InterruptedException e) {
-                throw new RuntimeException(e);
-            }
-            SlideArm.ServoSteps(ArmServo, 0.55, 10, 5);
-        } else if (gamepad2.dpad_up) {
-
-            WristServo.setPosition(0.4);
-            ArmServo.setPosition(0.2);
-
-        }
-
-        telemetry.addData("Slide Ticks", Slide.getCurrentPosition());
-        telemetry.update();
-        //limit = 6600;
-
-
-        if (gamepad2.x) {
-            xPressed = true;
-        }
-
-        while (xPressed && Slide.getCurrentPosition() < 6300) {
-            Slide.setPower(0.6);
-            Slide.setTargetPosition(6300);
-            Slide.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            telemetry.addData("In While Loop:", Slide.getCurrentPosition());
-            telemetry.update();
-        }
-        if (xPressed && Slide.getCurrentPosition() >= 6300)
-        {
-            xPressed = false;
-        }
-
-        Slide.setPower(0);
-
-        if (gamepad2.y) {
-            yPressed = false;
-        }
-
-        while (yPressed && Slide.getCurrentPosition() < 3150) {
-            Slide.setPower(0.6);
-            Slide.setTargetPosition(3150);
-            Slide.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            telemetry.addData("In While Loop:", Slide.getCurrentPosition());
-            telemetry.update();
-        }
-        Slide.setPower(0);
-        if (yPressed && Slide.getCurrentPosition() >= 3150)
-        {
-            yPressed = false;
-        }
-        if (gamepad2.b) {
-            bPressed = !bPressed;
-        }
-
-        while (bPressed && Slide.getCurrentPosition() > 0) {
-            Slide.setPower(0.6);
-            Slide.setTargetPosition(0);
-            Slide.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            telemetry.addData("In While Loop:", Slide.getCurrentPosition());
-            telemetry.update();
-        }
-        Slide.setPower(0);
-        if (xPressed && Slide.getCurrentPosition() >= 0)
-        {
-            bPressed = false;
-        } }
-
-    /**
-     * This function takes 4 parameters and makes your servo move in multiple steps for precision
-     * @param servo the servo you want to move
-     * @param targetPosition the position you want to go to
-     * @param Steps how many steps you want to move before reaching targetPosition
-     * @param millis how much to sleep between steps
-     */
-    public static void ServoSteps (Servo servo, double targetPosition, int Steps, long millis){
-        double startingPosition = servo.getPosition();
-        double howFarToMove = targetPosition-startingPosition;
-        double Increment = howFarToMove/Steps;
-        double currentPosition = startingPosition;
-        for(int i = 0; i < Steps; i ++) {
-            servo.setPosition(currentPosition + Increment);
-            currentPosition += Increment;
-            try {
-                Thread.sleep(millis);
-            } catch (InterruptedException e) {
-                throw new RuntimeException(e);
-            }
-        }
-
-    }
-
-
-
-    public void stop(){
-
-    }
-
-
-}

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

@@ -0,0 +1,151 @@
+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.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 = "BlueNonBasketAuto", group = "Autonomous Pathing Tuning")
+public class BlueNonBasketAuto extends OpMode {
+    private Telemetry telemetryA;
+
+    private Follower follower;
+
+    private PathChain path;
+
+    private final Pose startPose = new Pose(10.929, 55.446, 0);
+
+    /**
+     * 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(.45);
+
+        follower.setStartingPose(startPose);
+
+        path = follower.pathBuilder()
+                .addPath(
+                // Line 1
+                new BezierCurve(
+                        new Point(10.929, 55.446, Point.CARTESIAN),
+                        new Point(42.429, 46.446, Point.CARTESIAN),
+                        new Point(36.321, 38.089, Point.CARTESIAN)
+                )
+        )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 2
+                        new BezierLine(
+                                new Point(36.321, 38.089, Point.CARTESIAN),
+                                new Point(59.786, 36.643, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 3
+                        new BezierLine(
+                                new Point(59.786, 36.643, Point.CARTESIAN),
+                                new Point(59.304, 24.750, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 4
+                        new BezierLine(
+                                new Point(59.304, 24.750, Point.CARTESIAN),
+                                new Point(13.982, 23.946, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 5
+                        new BezierLine(
+                                new Point(13.982, 23.946, Point.CARTESIAN),
+                                new Point(59.464, 24.429, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 6
+                        new BezierLine(
+                                new Point(59.464, 24.429, Point.CARTESIAN),
+                                new Point(58.982, 15.268, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 7
+                        new BezierLine(
+                                new Point(58.982, 15.268, Point.CARTESIAN),
+                                new Point(13.821, 14.464, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 8
+                        new BezierLine(
+                                new Point(13.821, 14.464, Point.CARTESIAN),
+                                new Point(58.661, 13.500, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 9
+                        new BezierLine(
+                                new Point(58.661, 13.500, Point.CARTESIAN),
+                                new Point(58.339, 8.679, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 10
+                        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();
+    }
+
+    /**
+     * 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, true);
+        }
+        follower.telemetryDebug(telemetryA);
+    }
+}

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

@@ -0,0 +1,142 @@
+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/cometbots/projects/BasicOmniOpMode_Linear.java

@@ -27,13 +27,10 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-package org.firstinspires.ftc.teamcode;
+package org.firstinspires.ftc.teamcode.cometbots.projects;
 
-<<<<<<< HEAD
-=======
 import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
 import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
->>>>>>> branch-rc-chassis-14493
 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;
@@ -42,28 +39,19 @@ 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;
-<<<<<<< HEAD
-=======
 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;
->>>>>>> branch-rc-chassis-14493
 
-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;
-<<<<<<< HEAD
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-=======
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
 import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
 
->>>>>>> branch-rc-chassis-14493
 /*
  * This file contains an example of a Linear "OpMode".
  * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
@@ -96,27 +84,13 @@ import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
 public class BasicOmniOpMode_Linear extends LinearOpMode {
 
     // Declare OpMode members for each of the 4 motors.
-<<<<<<< HEAD
-    private ElapsedTime runtime = new ElapsedTime();
-    private DcMotor leftFrontDrive = null;
-    private DcMotor leftBackDrive = null;
-    private DcMotor rightFrontDrive = null;
-    private DcMotor rightBackDrive = null;
-=======
     private final ElapsedTime runtime = new ElapsedTime();
->>>>>>> branch-rc-chassis-14493
 
     @Override
     public void runOpMode() {
 
         // Initialize the hardware variables. Note that the strings used here must correspond
         // to the names assigned during the robot configuration step on the DS or RC devices.
-<<<<<<< HEAD
-        leftFrontDrive  = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
-        leftBackDrive  = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
-        rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
-        rightBackDrive = hardwareMap.get(DcMotor.class, BACK_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);
@@ -133,7 +107,6 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
         leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
         rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
         strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
->>>>>>> branch-rc-chassis-14493
 
         // ########################################################################################
         // !!!            IMPORTANT Drive Information. Test your motor directions.            !!!!!
@@ -152,12 +125,9 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
 
         // Wait for the game to start (driver presses START)
         telemetry.addData("Status", "Initialized");
-<<<<<<< HEAD
-=======
         telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
         telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
         telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
->>>>>>> branch-rc-chassis-14493
         telemetry.update();
 
         waitForStart();
@@ -219,12 +189,9 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
             telemetry.addData("Status", "Run Time: " + runtime.toString());
             telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
             telemetry.addData("Back  left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
-<<<<<<< HEAD
-=======
             telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
             telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
             telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
->>>>>>> branch-rc-chassis-14493
             telemetry.update();
         }
     }}

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

@@ -5,7 +5,6 @@ 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.DriveEncoderLocalizer;
 import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.ThreeWheelIMULocalizer;
 import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.ThreeWheelLocalizer;
 import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.TwoWheelLocalizer;
@@ -71,7 +70,6 @@ public class PoseUpdater {
     public PoseUpdater(HardwareMap hardwareMap) {
         // TODO: replace the second argument with your preferred localizer
         this(hardwareMap, new ThreeWheelLocalizer(hardwareMap));
-//        this(hardwareMap, new ThreeWheelIMULocalizer(hardwareMap));
     }
 
     /**

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

@@ -38,9 +38,9 @@ public class DriveEncoderLocalizer extends Localizer {
     private Encoder leftRear;
     private Encoder rightRear;
     private double totalHeading;
-    public static double FORWARD_TICKS_TO_INCHES = -0.6308;
+    public static double FORWARD_TICKS_TO_INCHES = 1;
-    public static double STRAFE_TICKS_TO_INCHES = 46.4839;
+    public static double STRAFE_TICKS_TO_INCHES = 1;
-    public static double TURN_TICKS_TO_RADIANS = -0.002;
+    public static double TURN_TICKS_TO_RADIANS = 1;
     public static double ROBOT_WIDTH = 1;
     public static double ROBOT_LENGTH = 1;
 

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

@@ -65,9 +65,9 @@ public class ThreeWheelIMULocalizer extends Localizer {
     private double previousIMUOrientation;
     private double deltaRadians;
     private double totalHeading;
-    public static double FORWARD_TICKS_TO_INCHES = 0.004;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
+    public static double FORWARD_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
-    public static double STRAFE_TICKS_TO_INCHES = -0.0036;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
+    public static double STRAFE_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
-    public static double TURN_TICKS_TO_RADIANS = 0.0043;//8192 * 1.37795 * 2 * Math.PI * 0.5;
+    public static double TURN_TICKS_TO_RADIANS = 0.0022;//8192 * 1.37795 * 2 * Math.PI * 0.5;
 
     public static boolean useIMU = true;
 
@@ -96,9 +96,9 @@ public class ThreeWheelIMULocalizer extends Localizer {
         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(-7.625, 6.19375, 0);
+        leftEncoderPose = new Pose(0, 6.19375, 0);
-        rightEncoderPose = new Pose(-7.625, -6.19375, 0);
+        rightEncoderPose = new Pose(0, -6.19375, 0);
-        strafeEncoderPose = new Pose(7, 1, Math.toRadians(90));
+        strafeEncoderPose = new Pose(-7, 0, Math.toRadians(90));
 
         // TODO: replace these with your encoder ports
         leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));

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

@@ -57,11 +57,8 @@ public class ThreeWheelLocalizer extends Localizer {
     private Pose rightEncoderPose;
     private Pose strafeEncoderPose;
     private double totalHeading;
-//    public static double FORWARD_TICKS_TO_INCHES = 0.00052189;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
     public static double FORWARD_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
-//    public static double STRAFE_TICKS_TO_INCHES = 0.00052189;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
     public static double STRAFE_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
-//    public static double TURN_TICKS_TO_RADIANS = 0.00053717;//8192 * 1.37795 * 2 * Math.PI * 0.5;
     public static double TURN_TICKS_TO_RADIANS = 0.003;//8192 * 1.37795 * 2 * Math.PI * 0.5;
 
     /**
@@ -83,8 +80,8 @@ public class ThreeWheelLocalizer extends Localizer {
      */
     public ThreeWheelLocalizer(HardwareMap map, Pose setStartPose) {
         // TODO: replace these with your encoder positions
-        leftEncoderPose = new Pose(0, 6.19375, 0);
+        leftEncoderPose = new Pose(0, 6.25, 0);
-        rightEncoderPose = new Pose(0, -6.19375, 0);
+        rightEncoderPose = new Pose(0, -6.25, 0);
         strafeEncoderPose = new Pose(-7, 0, Math.toRadians(90));
 
         hardwareMap = map;

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

@@ -63,7 +63,6 @@ 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

@@ -1,5 +1,9 @@
 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;
@@ -58,8 +62,10 @@ public class LocalizationTest extends OpMode {
         rightRear = hardwareMap.get(DcMotorEx.class, rightRearMotorName);
         rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
 
-        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+        leftFront.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
-        leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
+        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);
 

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

@@ -53,15 +53,15 @@ public class FollowerConstants {
             0);
 
     // Feed forward constant added on to the translational PIDF
-    public static double translationalPIDFFeedForward = 0.015;
+    public static double translationalPIDFFeedForward = 0.00;
 
 
     // Heading error PIDF coefficients
     public static CustomPIDFCoefficients headingPIDFCoefficients = new CustomPIDFCoefficients(
             2,
             0,
-            .075,
+            0.025,
-            -.03125);
+            0);
 
     // Feed forward constant added on to the heading PIDF
     public static double headingPIDFFeedForward = 0.01;
@@ -81,7 +81,7 @@ public class FollowerConstants {
     // Kalman filter parameters for the drive error Kalman filter
     public static KalmanFilterParameters driveKalmanFilterParameters = new KalmanFilterParameters(
             6,
-            1);
+            3);
 
 
     // Mass of robot in kilograms

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

@@ -93,11 +93,13 @@ 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();
 
     }
 
@@ -138,6 +140,13 @@ 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) {
@@ -146,7 +155,12 @@ public class ForwardVelocityTuner extends OpMode {
             average /= (double) velocities.size();
 
             telemetryA.addData("forward velocity:", average);
-            telemetryA.update();
+//            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();
         }
     }
 }

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

@@ -119,13 +119,6 @@ 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

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

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine1.java

@@ -0,0 +1,44 @@
+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

@@ -0,0 +1,40 @@
+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

@@ -0,0 +1,73 @@
+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

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

build.dependencies.gradle

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