Added driver hub config naming

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

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

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

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

@@ -1,92 +0,0 @@
-/*
-        Copyright (c) 2024 Alan Smith
-        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 Alan Smith 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 FITNESSFOR 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;
-
-/*
- * This OpMode illustrates how to use the goBILDA Indicator Light
- *
- * To make this work, this Light uses a Servo motor and setPositions.
- * Valid values are from .277 to .722.
- *
- * If it's less than .277 then no light
- * If it's greater than .722 then white light
- *
- * Spec Sheet is here: https://cdn11.bigcommerce.com/s-x56mtydx1w/images/stencil/original/products/2275/13464/3118-0808-0002-Product-Insight-4__03940__01348.1728056113.png?c=1
- */
-
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.Servo;
-
-@TeleOp(name = "Demo: goBILDA Indicator Light", group = "Concept")
-public class DemoGoBildaIndicatorLight extends LinearOpMode {
-    Servo front_led;
-    private final double buffer = .277;
-    @Override
-    public void runOpMode() {
-        front_led = hardwareMap.get(Servo.class, "test_servo");
-
-        waitForStart();
-
-        while (opModeIsActive()) {
-            double left_x = Math.abs(gamepad1.left_stick_x) / 4;
-            double left_y = Math.abs(gamepad1.left_stick_y) / 4;
-            double right_x = Math.abs(gamepad1.right_stick_x) / 4;
-            double right_y = Math.abs(gamepad1.right_stick_y) / 4;
-            double total_position = Math.min(left_x + left_y + right_x + right_y + buffer, 1.0);
-
-            telemetry.addData("left_x", left_x);
-            telemetry.addData("left_y", left_y);
-            telemetry.addData("right_x", right_x);
-            telemetry.addData("right_y", right_y);
-            telemetry.addData("total (plus buffer)", total_position);
-            telemetry.update();
-
-            front_led.setPosition(total_position);
-
-            if (gamepad1.cross) {
-                front_led.setPosition(.611);
-                sleep(2000);
-            }
-            if (gamepad1.triangle) {
-                front_led.setPosition(.444);
-                sleep(2000);
-            }
-            if (gamepad1.square) {
-                front_led.setPosition(.7);
-                sleep(2000);
-            }
-            if (gamepad1.circle) {
-                front_led.setPosition(.3);
-                sleep(2000);
-            }
-
-
-        }
-    }
-
-}

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

@@ -12,10 +12,10 @@ public class PedroConstants {
     */
 
     // 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;
@@ -23,48 +23,61 @@ 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.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.REVERSE;
+    public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD;
+
+    // Arm config
+    public static final String LIFT_SLIDE_LEFT_MOTOR = "lift-slide-left";
+    public static final String LIFT_SLIDE_RIGHT_MOTOR = "lift-slide-right";
+    public static final String Claw_Servo = "ClawServo";
+    public static final String Wrist_Servo = "WristServo";
+    public static final String Arm_Servo = "ArmServo";
 
     /*
         Pedro's parameters
     */
 
     // The weight of the robot in Kilograms
-    public static final double ROBOT_WEIGHT_IN_KG = 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 = 72.0693;
+    public static final double ROBOT_SPEED_FORWARD = 51.5;
 
     // Maximum velocity of the robot going right
-    public static final double ROBOT_SPEED_LATERAL = 24.1401;
+    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 = -74.3779;
+    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 = -111.8409;
+    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 = 4;
+    public static final double ZERO_POWER_ACCEL_MULT = 3.5;
 
     /* Centripetal force correction - increase if robot is correcting into the path
                                     - decrease if robot is correcting away from the path */
-    public static final double CENTRIPETAL_SCALING = 0.0005;
+    public static final double CENTRIPETAL_SCALING = 0.0004;
 }

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/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

@@ -0,0 +1,197 @@
+/* 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.projects;
+
+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 com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
+
+/*
+ * 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.
+ * The names of OpModes appear on the menu of the FTC Driver Station.
+ * When a selection is made from the menu, the corresponding OpMode is executed.
+ *
+ * This particular OpMode illustrates driving a 4-motor Omni-Directional (or Holonomic) robot.
+ * This code will work with either a Mecanum-Drive or an X-Drive train.
+ * Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html
+ * Note that a Mecanum drive must display an X roller-pattern when viewed from above.
+ *
+ * Also note that it is critical to set the correct rotation direction for each motor.  See details below.
+ *
+ * Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously.
+ * Each motion axis is controlled by one Joystick axis.
+ *
+ * 1) Axial:    Driving forward and backward               Left-joystick Forward/Backward
+ * 2) Lateral:  Strafing right and left                     Left-joystick Right and Left
+ * 3) Yaw:      Rotating Clockwise and counter clockwise    Right-joystick Right and Left
+ *
+ * This code is written assuming that the right-side motors need to be reversed for the robot to drive forward.
+ * When you first test your robot, if it moves backward when you push the left stick forward, then you must flip
+ * the direction of all 4 motors (see code below).
+ *
+ * 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
+ */
+
+@TeleOp(name="Basic: Omni Linear OpMode", group="Linear OpMode")
+public class BasicOmniOpMode_Linear extends LinearOpMode {
+
+    // Declare OpMode members for each of the 4 motors.
+    private final ElapsedTime runtime = new ElapsedTime();
+
+    @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.
+        DcMotor leftFrontDrive = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
+        DcMotor leftBackDrive = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
+        DcMotor rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
+        DcMotor rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
+
+
+
+        // TODO: replace these with your encoder ports
+        Encoder leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
+        Encoder rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
+        Encoder strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
+
+        // TODO: reverse any encoders necessary
+        leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
+        rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
+        strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
+
+        // ########################################################################################
+        // !!!            IMPORTANT Drive Information. Test your motor directions.            !!!!!
+        // ########################################################################################
+        // Most robots need the motors on one side to be reversed to drive forward.
+        // The motor reversals shown here are for a "direct drive" robot (the wheels turn the same direction as the motor shaft)
+        // If your robot has additional gear reductions or uses a right-angled drive, it's important to ensure
+        // that your motors are turning in the correct direction.  So, start out with the reversals here, BUT
+        // when you first test your robot, push the left joystick forward and observe the direction the wheels turn.
+        // Reverse the direction (flip FORWARD <-> REVERSE ) of any wheel that runs backward
+        // Keep testing until ALL the wheels move the robot forward when you push the left joystick forward.
+        leftFrontDrive.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
+        leftBackDrive.setDirection(BACK_LEFT_MOTOR_DIRECTION);
+        rightFrontDrive.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
+        rightBackDrive.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
+
+        // Wait for the game to start (driver presses START)
+        telemetry.addData("Status", "Initialized");
+        telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
+        telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
+        telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
+        telemetry.update();
+
+        waitForStart();
+        runtime.reset();
+
+        // run until the end of the match (driver presses STOP)
+        while (opModeIsActive()) {
+            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;
+            }
+
+            // This is test code:
+            //
+            // Uncomment the following code to test your motor directions.
+            // Each button should make the corresponding motor run FORWARD.
+            //   1) First get all the motors to take to correct positions on the robot
+            //      by adjusting your Robot Configuration if necessary.
+            //   2) Then make sure they run in the correct direction by modifying the
+            //      the setDirection() calls above.
+            // Once the correct motors move in the correct direction re-comment this code.
+
+            /*
+            leftFrontPower  = gamepad1.x ? 1.0 : 0.0;  // X gamepad
+            leftBackPower   = gamepad1.a ? 1.0 : 0.0;  // A gamepad
+            rightFrontPower = gamepad1.y ? 1.0 : 0.0;  // Y gamepad
+            rightBackPower  = gamepad1.b ? 1.0 : 0.0;  // B gamepad
+            */
+
+            // Send calculated power to wheels
+            leftFrontDrive.setPower(leftFrontPower);
+            rightFrontDrive.setPower(rightFrontPower);
+            leftBackDrive.setPower(leftBackPower);
+            rightBackDrive.setPower(rightBackPower);
+
+            // Show the elapsed game time and wheel power.
+            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);
+            telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
+            telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
+            telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
+            telemetry.update();
+        }
+    }}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/TUNING.md

@@ -71,7 +71,8 @@ measurements will be in centimeters.
   of how fast your robot will coast to a stop. Honestly, this is up to you. I personally used 4, but
   what works best for you is most important. Higher numbers will cause a faster brake, but increase
   oscillations at the end. Lower numbers will do the opposite. This can be found on line `107` in
-  `FollowerConstants`, named `zeroPowerAccelerationMultiplier`. The drive PID is much, much more sensitive than the others. For reference,
+  `FollowerConstants`, named `zeroPowerAccelerationMultiplier`. The drive PID is much, much more 
+* sensitive than the others. For reference,
   my P values were in the hundredths and thousandths place values, and my D values were in the hundred
   thousandths and millionths place values. To tune this, enable `useDrive`, `useHeading`, and
   `useTranslational` in the `Follower` dropdown in FTC Dashboard. Next, run `StraightBackAndForth`

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

@@ -69,7 +69,7 @@ public class PoseUpdater {
      */
     public PoseUpdater(HardwareMap hardwareMap) {
         // TODO: replace the second argument with your preferred localizer
-        this(hardwareMap, new ThreeWheelIMULocalizer(hardwareMap));
+        this(hardwareMap, new ThreeWheelLocalizer(hardwareMap));
     }
 
     /**

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

@@ -57,9 +57,9 @@ 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;
 
     /**
      * This creates a new ThreeWheelLocalizer from a HardwareMap, with a starting Pose at (0,0)
@@ -80,9 +80,9 @@ public class ThreeWheelLocalizer extends Localizer {
      */
     public ThreeWheelLocalizer(HardwareMap map, Pose setStartPose) {
         // TODO: replace these with your encoder positions
-        leftEncoderPose = new Pose(-18.5/25.4 - 0.1, 164.4/25.4, 0);
+        leftEncoderPose = new Pose(0, 6.25, 0);
-        rightEncoderPose = new Pose(-18.4/25.4 - 0.1, -159.6/25.4, 0);
+        rightEncoderPose = new Pose(0, -6.25, 0);
-        strafeEncoderPose = new Pose(0*(-107.9/25.4+8)+-107.9/25.4+0.25, -1.1/25.4-0.23, Math.toRadians(90));
+        strafeEncoderPose = new Pose(-7, 0, Math.toRadians(90));
 
         hardwareMap = map;
 
@@ -92,9 +92,9 @@ public class ThreeWheelLocalizer extends Localizer {
         strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
 
         // TODO: reverse any encoders necessary
-        //leftEncoder.setDirection(Encoder.REVERSE);
+        leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
-       // rightEncoder.setDirection(Encoder.REVERSE);
+        rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
-        //strafeEncoder.setDirection(Encoder.FORWARD);
+        strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
 
         setStartPose(setStartPose);
         timer = new NanoTimer();

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

@@ -42,7 +42,7 @@ public class FollowerConstants {
     public static CustomPIDFCoefficients translationalPIDFCoefficients = new CustomPIDFCoefficients(
             0.1,
             0,
-            0,
+            0.01,
             0);
 
     // Translational Integral
@@ -53,14 +53,14 @@ public class FollowerConstants {
             0);
 
     // Feed forward constant added on to the translational PIDF
-    public static double translationalPIDFFeedForward = 0.015;
+    public static double translationalPIDFFeedForward = 0.00;
 
 
     // Heading error PIDF coefficients
     public static CustomPIDFCoefficients headingPIDFCoefficients = new CustomPIDFCoefficients(
-            1,
+            2,
-            0,
             0,
+            0.025,
             0);
 
     // Feed forward constant added on to the heading PIDF
@@ -69,10 +69,10 @@ public class FollowerConstants {
 
     // Drive PIDF coefficients
     public static CustomFilteredPIDFCoefficients drivePIDFCoefficients = new CustomFilteredPIDFCoefficients(
-            0.025,
+            0.006,
             0,
             0.00001,
-            0.6,
+            0.8,
             0);
 
     // Feed forward constant added on to the drive PIDF
@@ -81,7 +81,7 @@ public class FollowerConstants {
     // Kalman filter parameters for the drive error Kalman filter
     public static KalmanFilterParameters driveKalmanFilterParameters = new KalmanFilterParameters(
             6,
-            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/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/LiftMotorSubsystem.java

@@ -0,0 +1,72 @@
+package org.firstinspires.ftc.teamcode.subsystem;
+
+import static org.firstinspires.ftc.teamcode.PedroConstants.LIFT_SLIDE_LEFT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.LIFT_SLIDE_RIGHT_MOTOR;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+
+@Config
+@Autonomous(name = "Lift Motor Subsystem - PID Test")
+public class LiftMotorSubsystem extends LinearOpMode {
+
+    private DcMotorEx liftSlideLeft;
+    private DcMotorEx liftSlideRight;
+    public static double kp = 0.0015, ki = 0, kd = 0;
+    private double lastError = 0;
+    private double integralSum = 0;
+    public static int targetPosition = 0;
+    private final FtcDashboard dashboard = FtcDashboard.getInstance();
+    private ElapsedTime timer = new ElapsedTime();
+
+    @Override
+    public void runOpMode() throws InterruptedException {
+        TelemetryPacket packet = new TelemetryPacket();
+        dashboard.setTelemetryTransmissionInterval(25);
+
+        liftSlideLeft = hardwareMap.get(DcMotorEx.class, LIFT_SLIDE_LEFT_MOTOR);
+        liftSlideRight = hardwareMap.get(DcMotorEx.class, LIFT_SLIDE_RIGHT_MOTOR);
+
+        liftSlideLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        liftSlideLeft.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        liftSlideLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+        liftSlideRight.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        liftSlideRight.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        liftSlideRight.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+
+        waitForStart();
+
+        while(opModeIsActive()) {
+            double power = calculatePower(targetPosition, liftSlideLeft.getCurrentPosition());
+
+            packet.put("Power", power);
+            packet.put("Position", liftSlideLeft.getCurrentPosition());
+            packet.put("Error", lastError);
+            packet.put("Seconds", timer.seconds());
+
+            liftSlideLeft.setPower(power);
+            liftSlideRight.setPower(power);
+
+            dashboard.sendTelemetryPacket(packet);
+        }
+    }
+
+    private double calculatePower(int targetPosition, int currentPosition) {
+        // reference is targetPosition, state is currentPosition
+        double error = targetPosition - currentPosition;
+        integralSum += error * timer.seconds();
+        double derivative = (error - lastError) / timer.seconds();
+        lastError = error;
+        timer.reset();
+        return (error * kp) + (derivative * kd) + (integralSum * ki);
+    }
+
+}

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

@@ -6,16 +6,19 @@ repositories {
 }
 
 dependencies {
-    implementation 'org.firstinspires.ftc:Inspection:10.0.0'
+    implementation 'org.firstinspires.ftc:Inspection:10.1.0'
-    implementation 'org.firstinspires.ftc:Blocks:10.0.0'
+    implementation 'org.firstinspires.ftc:Blocks:10.1.0'
-    implementation 'org.firstinspires.ftc:RobotCore:10.0.0'
+    implementation 'org.firstinspires.ftc:RobotCore:10.1.0'
-    implementation 'org.firstinspires.ftc:RobotServer:10.0.0'
+    implementation 'org.firstinspires.ftc:RobotServer:10.1.0'
-    implementation 'org.firstinspires.ftc:OnBotJava:10.0.0'
+    implementation 'org.firstinspires.ftc:OnBotJava:10.1.0'
-    implementation 'org.firstinspires.ftc:Hardware:10.0.0'
+    implementation 'org.firstinspires.ftc:Hardware:10.1.0'
-    implementation 'org.firstinspires.ftc:FtcCommon:10.0.0'
+    implementation 'org.firstinspires.ftc:FtcCommon:10.1.0'
-    implementation 'org.firstinspires.ftc:Vision:10.0.0'
+    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"
 }