Merge branch 'branch-rc-chassis-14493' into branch-black-14493

TeamCode/src/main/java/ServoPractice.java

@@ -0,0 +1,27 @@
+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

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

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

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

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

@@ -0,0 +1,230 @@
+/* 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;
+
+<<<<<<< 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;
+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;
+<<<<<<< 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.
+ * 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.
+<<<<<<< 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);
+        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);
+>>>>>>> branch-rc-chassis-14493
+
+        // ########################################################################################
+        // !!!            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");
+<<<<<<< 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();
+        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);
+<<<<<<< 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/BlueBasketAuto.java

@@ -1,115 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.acmerobotics.roadrunner.SleepAction;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.cometbots.CometBotTeleopCompetition;
-import org.firstinspires.ftc.teamcode.configs.RobotConstants;
-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;
-import org.firstinspires.ftc.teamcode.subsystem.AutoPark;
-import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath1;
-import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath2;
-import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.SkyHookSubsystem;
-
-
-@Autonomous(name = "Auto Test Competition", group = "Dev")
-public class BlueBasketAuto extends OpMode {
-    private Follower follower;
-    private int state;
-
-    private HighBasketAutoPath1 path1;
-    private HighBasketAutoPath2 path2;
-    private AutoPark pathPark;
-    private SkyHookSubsystem hook;
-    private CometBotTeleopCompetition comp;
-    private ElapsedTime runtime;
-
-    private LiftActionsSubsystem liftActionsSubsystem;
-
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-        follower.setMaxPower(.75);
-        path1    = new HighBasketAutoPath1();
-        path2    = new HighBasketAutoPath2();
-        pathPark = new AutoPark();
-
-        comp = new CometBotTeleopCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
-        comp.initCloseClaw();
-        runtime = new ElapsedTime();
-        hook = new SkyHookSubsystem(hardwareMap);
-        state = 0;
-
-    }
-
-
-    @Override
-    public void loop() {
-        switch(state) {
-            case 0:
-                telemetry.addData("case0", "case0");
-
-                path1.moveToPath1(follower);
-                state = 1;
-                runtime.reset();
-            case 1:
-                if (runtime.seconds() > 5) {
-                    telemetry.addData("case1", "case1");
-
-                    new SleepAction(.5);
-                    comp.highBucketDropAuto();
-
-                    state = 2;
-                }
-            case 2:
-                if (runtime.seconds() > 15) {
-                    telemetry.addData("case2", "case2");
-
-                   // new SleepAsction(.5);
-                    //path2.moveToPath1(follower);
-
-                    //For next time, add encoder control to skyhook and extend here
-                    //comp.moveSkyHook();
-
-                    //pathPark.moveToPark(follower);
-
-                    state = 3;
-                }
-            case 3:
-                if (runtime.seconds() > 15) {
-                    telemetry.addData("case3", "case3");
-                    hook.toLevel1Position();
-
-
-                    state = 4;
-                }
-            case 4:
-                if (runtime.seconds() > 15) {
-                    telemetry.addData("case3", "case3");
-                    hook.toLevel1Position();
-
-
-                    state = 4;
-                }
-                //System.out.println("default");
-                //telemetry.addData("default", "default");
-                //telemetry.update();
-        }
-        telemetry.update();
-        follower.update();
-        //follower.telemetryDebug(telemetry);
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop1.java

@@ -1,56 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-@Autonomous(name = "Auto Test1", group = "Dev")
-public class BlueBasketAutoWithDrop1 extends OpMode {
-    private Telemetry telemetryA;
-
-    private Follower follower;
-
-    private PathChain path;
-
-    private final Pose startPose = new Pose(8, 89);
-
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-
-        follower.setMaxPower(.75);
-
-        follower.setStartingPose(startPose);
-
-        path = follower.pathBuilder()
-                .addPath(
-                        // Line 1
-                        new BezierCurve(
-                                new Point(8.000, 89.000, Point.CARTESIAN),
-                                new Point(24.000, 96.000, Point.CARTESIAN),
-                                new Point(16.000, 128.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(135)).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/BlueBasketAutoWithDrop2.java

@@ -1,57 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-@Autonomous(name = "Auto Test2", group = "Dev")
-public class BlueBasketAutoWithDrop2 extends OpMode {
-    private Telemetry telemetryA;
-
-    private Follower follower;
-
-    private PathChain path;
-
-    private final Pose startPose = new Pose(16, 128);
-
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-
-        follower.setMaxPower(.75);
-
-        follower.setStartingPose(startPose);
-
-        path = follower.pathBuilder()
-
-                .addPath(
-                        // Line 1
-                        new BezierCurve(
-                                new Point(16.000, 128.000, Point.CARTESIAN),
-                                new Point(88.000, 140.000, Point.CARTESIAN),
-                                new Point(83.250, 99.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(135), 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/BlueNonBasketAuto.java

@@ -1,161 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-@Autonomous(name = "Blue Non Basket Auto", group = "Competition")
-public class BlueNonBasketAuto extends OpMode {
-    private Telemetry telemetryA;
-
-    private Follower follower;
-
-    private PathChain path;
-
-    private PathChain path2;
-
-    private final Pose startPose = new Pose(8.000, 55.000);
-
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-
-        follower.setMaxPower(.6);
-
-        follower.setStartingPose(startPose);
-
-        path = follower.pathBuilder()
-                .addPath(
-                        // Line 1
-                        new BezierCurve(
-                                new Point(8.000, 55.000, Point.CARTESIAN),
-                                new Point(27.482, 33.750, Point.CARTESIAN),
-                                new Point(62.357, 33.107, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0)).build();
-        follower.followPath(path);
-        
-        path2 = follower.pathBuilder()
-                .addPath(
-                        // Line 2
-                        new BezierLine(
-                                new Point(62.357, 33.107, Point.CARTESIAN),
-                                new Point(62.000, 27.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 3
-                        new BezierLine(
-                                new Point(62.000, 27.000, Point.CARTESIAN),
-                                new Point(10.000, 27.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 4
-                        new BezierLine(
-                                new Point(10.000, 27.000, Point.CARTESIAN),
-                                new Point(61.875, 27.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 5
-                        new BezierLine(
-                                new Point(61.875, 27.000, Point.CARTESIAN),
-                                new Point(61.714, 17.357, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 6
-                        new BezierLine(
-                                new Point(61.714, 17.357, Point.CARTESIAN),
-                                new Point(14.464, 17.357, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 7
-                        new BezierLine(
-                                new Point(14.464, 17.357, Point.CARTESIAN),
-                                new Point(61.714, 17.357, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 8
-                        new BezierLine(
-                                new Point(61.714, 17.357, Point.CARTESIAN),
-                                new Point(61.554, 8.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 9
-                        new BezierLine(
-                                new Point(61.554, 8.000, Point.CARTESIAN),
-                                new Point(12.536, 8.196, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 10
-                        new BezierCurve(
-                                new Point(12.536, 8.196, Point.CARTESIAN),
-                                new Point(52.071, 19.929, Point.CARTESIAN),
-                                new Point(50.786, 33.750, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 11
-                        new BezierCurve(
-                                new Point(50.786, 33.750, Point.CARTESIAN),
-                                new Point(2.571, 39.375, Point.CARTESIAN),
-                                new Point(20.732, 78.911, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 12
-                        new BezierCurve(
-                                new Point(20.732, 78.911, Point.CARTESIAN),
-                                new Point(24.429, 111.054, Point.CARTESIAN),
-                                new Point(46.929, 121.018, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 13
-                        new BezierCurve(
-                                new Point(46.929, 121.018, Point.CARTESIAN),
-                                new Point(68.143, 116.357, Point.CARTESIAN),
-                                new Point(63.000, 97.714, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270)).build();
-
-        follower.followPath(path2);
-
-        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/CONTROLS.md

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

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/ComeBotDriveDevV2.java

@@ -1,290 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import static com.qualcomm.hardware.lynx.commands.core.LynxSetMotorPIDFControlLoopCoefficientsCommand.InternalMotorControlAlgorithm.Max;
-
-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.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-import org.firstinspires.ftc.teamcode.cometbots.CometBotTeleopCompetition;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.subsystem.AutoPark;
-import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath1;
-import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath2;
-import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath3;
-import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath4;
-import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath5;
-import org.firstinspires.ftc.teamcode.subsystem.HighBasketAutoPath6;
-import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.SkyHookSubsystem;
-
-
-@Autonomous(name = "Auto Test Competition V2", group = "Dev")
-public class ComeBotDriveDevV2 extends OpMode {
-    private Follower follower;
-    private int state;
-
-    private HighBasketAutoPath1 path1;
-    private HighBasketAutoPath2 path2;
-
-    private HighBasketAutoPath3 path3;
-    private HighBasketAutoPath4 path4;
-    private HighBasketAutoPath5 path5;
-    private HighBasketAutoPath6 path6;
-
-    private AutoPark pathPark;
-    private SkyHookSubsystem hook;
-    private CometBotTeleopCompetition comp;
-    private static ElapsedTime runtime;
-    private static boolean initalized = false;
-    private static boolean followingPath = false;
-    private LiftActionsSubsystem liftActionsSubsystem;
-
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-        follower.setMaxPower(.75);
-        path1 = new HighBasketAutoPath1();
-        path2 = new HighBasketAutoPath2();
-        path3 = new HighBasketAutoPath3();
-        path4 = new HighBasketAutoPath4();
-        path5 = new HighBasketAutoPath5();
-        path6 = new HighBasketAutoPath6();
-
-        pathPark = new AutoPark();
-
-        comp = new CometBotTeleopCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
-        comp.initCloseClaw();
-        hook = new SkyHookSubsystem(hardwareMap);
-        state = 0;
-    }
-
-
-    public void loop() {
-        telemetry.addData("state", state);
-        telemetry.addData("followingPath", followingPath);
-        if (runtime != null) {
-            telemetry.addData("Runtime (seconds)", runtime.seconds());
-        }
-        switch (state) {
-            case 0:
-                moveToPathOneAndHighBucket();
-                break;
-            case 1:
-                doArmThing();
-                break;
-            case 2:
-                moveToPathTwoAndPickSampleUp();
-                break;
-            case 3:
-                doPickUpThing();
-                break;
-            case 4:
-                moveToBasketPath3();
-                break;
-            case 5:
-                theArmThing();
-                break;
-            case 6:
-                moveToPickupAgainPath4();
-                break;
-            case 7:
-                doPickUpThingAgain();
-                break;
-            case 8:
-                moveToPickupAgainPath5();
-                break;
-            case 9:
-                theArmThingAgain();
-                break;
-            case 10:
-                //moveToParkPath6();
-                break;
-            case 11:
-
-
-        }
-        telemetry.update();
-        follower.update();
-    }
-
-    private void moveToPathOneAndHighBucket() {
-        if (!followingPath) {
-            runtime = new ElapsedTime();
-            path1.moveToPath1(follower);
-            followingPath = true;
-        }
-        if (runtime != null) {
-            telemetry.addData("Runtime (seconds)", runtime.seconds());
-            if (follower.atParametricEnd() || runtime.seconds() > 4) {
-                state = 1;
-                followingPath = false;
-            }
-        }
-    }
-
-    public class SetStateAction implements Action {
-
-        private int value;
-
-        public SetStateAction(int value) {
-            this.value = value;
-        }
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-            state = value;
-            return false;
-        }
-    }
-
-    private Action setStateValue(int value) {
-        return new SetStateAction(value);
-    }
-
-    private void doArmThing() {
-        comp.highBucketDropAuto();
-        state = 2;
-    }
-
-    private void theArmThing() {
-        telemetry.addData("busy?", follower.isBusy());
-        telemetry.addData("end?", follower.atParametricEnd());
-        if (follower.atParametricEnd()){
-            follower.breakFollowing();
-            comp.highBucketDropAuto();
-            state = 6;
-        }
-//        follower.breakFollowing();
-    }
-
-    private void theArmThingAgain() {
-        follower.breakFollowing();
-        comp.highBucketDropAuto();
-        state = 10;
-    }
-
-    private void moveToPathTwoAndPickSampleUp() {
-        if (!followingPath) {
-            path2.moveToPath2(follower);
-            followingPath = true;
-        }
-        if (runtime != null) {
-            telemetry.addData("Runtime (seconds)", runtime.seconds());
-            if (follower.atParametricEnd() || runtime.seconds() > 22.0) {
-                state = 3;
-                followingPath = false;
-            }
-        }
-    }
-
-    private void moveToPickupAgainPath4() {
-        if (!followingPath) {
-            path4.moveToPickupAgainPath4(follower);
-            followingPath = true;
-        }
-        if (runtime != null) {
-            telemetry.addData("Runtime (seconds)", runtime.seconds());
-            if (follower.atParametricEnd() || runtime.seconds() > 27.0) {
-                state = 7;
-                followingPath = false;
-            }
-        }
-    }
-
-    private void moveToPickupAgainPath5() {
-        if (!followingPath) {
-            path5.moveToPickupAgainPath5(follower);
-            followingPath = true;
-        }
-        if (runtime != null) {
-            telemetry.addData("Runtime (seconds)", runtime.seconds());
-            if (follower.atParametricEnd() || runtime.seconds() > 36.0) {
-                state = 9;
-                followingPath = false;
-            }
-        }
-    }
-    private void moveToParkPath6() {
-        if (!followingPath) {
-            path6.moveToParkPath6(follower);
-            followingPath = true;
-        }
-        if (runtime != null) {
-            telemetry.addData("Runtime (seconds)", runtime.seconds());
-            if (follower.atParametricEnd() || runtime.seconds() > 48.0) {
-                state = 11;
-                followingPath = false;
-            }
-        }
-    }
-
-    private void moveToBasketPath3() {
-        if (!followingPath) {
-            path3.moveToBasketPath3(follower);
-            followingPath = true;
-        }
-        if (runtime != null) {
-            telemetry.addData("Runtime (seconds)", runtime.seconds());
-            if (follower.atParametricEnd() || runtime.seconds() > 10.0) {
-                state = 5;
-                followingPath = false;
-            }
-        }
-    }
-
-    private void thePickUpAuto() {
-        Actions.runBlocking(new SequentialAction(
-                new SleepAction(.1),
-                comp.claw.openClaw(),
-                new SleepAction(.2),
-                comp.wrist.toPickupPosition(),
-                new SleepAction(.2),
-                comp.arm.toSubmarinePosition(),
-                new SleepAction(.5),
-                comp.claw.closeClaw(),
-                new SleepAction(.3),
-                comp.wrist.toFloorPosition(),
-                new SleepAction(.2),
-                comp.arm.toParkPosition(),
-                new SleepAction(.2)
-        ));
-    }
-    private void thePickUp() {
-        Actions.runBlocking(new SequentialAction(
-                new SleepAction(.5),
-                comp.wrist.toPickupPosition(),
-                new SleepAction(.5),
-                comp.arm.toSubmarinePosition(),
-                new SleepAction(.7),
-                comp.claw.closeClaw(),
-                new SleepAction(.7),
-                comp.wrist.toFloorPosition(),
-                new SleepAction(.5),
-                comp.arm.toParkPosition(),
-                new SleepAction(.5)
-        ));
-    }
-
-    private void doPickUpThing() {
-        follower.breakFollowing();
-        thePickUpAuto();
-        state = 4;
-    }
-
-    private void doPickUpThingAgain() {
-        follower.breakFollowing();
-        thePickUpAuto();
-        state = 8;
-    }
-
-
-}
-

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

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

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

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

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

@@ -1,27 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.roadrunner.Action;
-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.subsystem.AutoLine1;
-
-@Autonomous(name = "BlueNetAuto", group = "Dev")
-public class NetAuto extends OpMode {
-
-    public Follower follower;
-
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-    }
-
-    @Override
-    public void loop() {
-        follower.update();
-
-        follower.telemetryDebug(telemetry);
-    }
-}

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

@@ -8,82 +8,46 @@ import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
 public class PedroConstants {
 
     /*
-        Motor configuration names
+        Robot parameters
     */
-    public static final String FRONT_LEFT_MOTOR = "front-left";
-    public static final String BACK_LEFT_MOTOR = "back-left";
-    public static final String FRONT_RIGHT_MOTOR = "front-right";
-    public static final String BACK_RIGHT_MOTOR = "back-right";
+    // Turn localizer - -0.003
 
-    /*
-        Motor directions
-     */
+
+    // Robot motor configurations
+    public static final String FRONT_LEFT_MOTOR = "Drive front lt";
+    public static final String BACK_LEFT_MOTOR  = "Drive back lt";
+    public static final String FRONT_RIGHT_MOTOR  = "Drive front rt";
+    public static final String BACK_RIGHT_MOTOR  = "Drive back rt";
+
+    // Robot motor direction
     public static final Direction FRONT_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
     public static final Direction BACK_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
     public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
     public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
 
-    /*
-        Centricity : true is robot-centric movement; false if field-centric movement
-     */
-    public static final boolean CENTRICITY = true;
-
-    /*
-        Motor Max Power
-     */
-    public static final double MAX_POWER = .8;
-
-    /*
-        IMU
-     */
+    // Robot IMU configuration
     public static final String IMU = "imu";
+
+    // Robot IMU placement
     public static final RevHubOrientationOnRobot.LogoFacingDirection IMU_LOGO_FACING_DIRECTION
             = RevHubOrientationOnRobot.LogoFacingDirection.DOWN;
     public static final RevHubOrientationOnRobot.UsbFacingDirection IMU_USB_FACING_DIRECTION
             = RevHubOrientationOnRobot.UsbFacingDirection.LEFT;
 
-    /*
-        Dead wheels
-     */
-    public static final String RIGHT_ENCODER = "back-right";
-    public static final String BACK_ENCODER = "front-right";
-    public static final String LEFT_ENCODER = "front-left";
+    // Robot encoders
+    public static final String LEFT_ENCODER = "encoder left";
+    public static final String RIGHT_ENCODER = "encoder right";
+    public static final String BACK_ENCODER = "encoder back";
 
-    /*
-        Dead wheel directions
-     */
-    public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;
+    // Robot encoder direction
+    public static final double LEFT_ENCODER_DIRECTION = Encoder.REVERSE;
     public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD;
     public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD;
 
-    /*
-        Arm configuration name
-     */
-    public static final String ARM_NAME = "arm-servo";
-
-    /*
-        Claw configuration name
-     */
-    public static final String CLAW_NAME = "claw-servo";
-
-    /*
-        Lift configuration name
-     */
-    public static final String LIFT_NAME = "lift-motor";
-
-    /*
-        Wrist configuration name
-     */
-    public static final String WRIST_NAME = "wrist-servo";
-
-    /*
-        Skyhook configuration name
-     */
-    public static final String SKYHOOK_NAME = "skyhook";
-
     /*
         Pedro's parameters
     */
+    // -0.0708
 
     // The weight of the robot in Kilograms
     public static final double ROBOT_WEIGHT_IN_KG = 10.5;
@@ -95,7 +59,7 @@ public class PedroConstants {
     public static final double ROBOT_SPEED_LATERAL = 28.7119;
 
     // Rate of deceleration when power is cut-off when the robot is moving forward
-    public static final double FORWARD_ZERO_POWER_ACCEL = -59.805;
+    public static final double FORWARD_ZERO_POWER_ACCEL = -57.805;
 
     // 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;

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

@@ -1,124 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-
-@Autonomous(name = "Pre Loaded Blue Basket Auto", group = "Competition")
-public class PreLoadedBlueBasketAuto extends OpMode {
-    private Telemetry telemetryA;
-
-    private Follower follower;
-
-    private PathChain path;
-
-    private final Pose startPose = new Pose(7.875, 89.357);
-
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-
-        follower.setMaxPower(.45);
-
-        follower.setStartingPose(startPose);
-
-        path = follower.pathBuilder()
-                .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(8, 89, 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, 131.071, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 8
-                        new BezierLine(
-                                new Point(57.857, 131.071, Point.CARTESIAN),
-                                new Point(18.964, 131.679, 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

@@ -0,0 +1,171 @@
+/* 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

@@ -0,0 +1,165 @@
+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/CometBotAutoCompetition.java

@@ -1,108 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots;
-
-public class CometBotAutoCompetition {
-
-}
-
-
-//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.pedroPathing.util.Timer;
-//import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
-//import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
-//import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
-//
-//public class Auto {
-//
-//    public ClawSubsystem claw;
-//    public ArmSubsystem arm;
-//    public WristSubsystem wrist;
-//
-//    public Timer clawTimer = new Timer();
-//    public Timer armTimer = new Timer();
-//    public Timer wristTimer = new Timer();
-//
-//    public Follower follower;
-//    public Telemetry telemetry;
-//
-//    public int caseState = 1;
-//
-//    public Auto(HardwareMap hardwareMap, Telemetry telemetry, Follower follower) {
-//        claw = new ClawSubsystem(hardwareMap, telemetry);
-//        arm = new ArmSubsystem(hardwareMap, telemetry);
-//        wrist = new WristSubsystem(hardwareMap, telemetry);
-//
-//        this.follower = follower;
-//        this.telemetry = telemetry;
-//
-//        init();
-//    }
-//
-//    public void init() {
-//        claw.init();
-//        arm.init();
-//        wrist.init();
-//    }
-//
-//    public void start() {
-//        clawTimer.resetTimer();
-//        armTimer.resetTimer();
-//        wristTimer.resetTimer();
-//
-//        claw.start();
-//        arm.start();
-//        wrist.start();
-//    }
-//
-//    public void update() {
-//
-//        this.telemetry.addData("Current State", caseState);
-//        this.telemetry.addData("Claw Timer", clawTimer.getElapsedTimeSeconds());
-//        this.telemetry.addData("Arm Timer", armTimer.getElapsedTimeSeconds());
-//        this.telemetry.addData("Wrist Timer", wristTimer.getElapsedTimeSeconds());
-//        this.telemetry.update();
-//
-//        switch (caseState) {
-//            case 1:
-//                claw.openClaw();
-//                caseState = 2;
-//                break;
-//            case 2:
-//                if (clawTimer.getElapsedTimeSeconds() > 2) {
-//                    arm.toFloorPosition();
-//                    caseState = 3;
-//                }
-//                break;
-//            case 3:
-//                if (armTimer.getElapsedTimeSeconds() > 4) {
-//                    wrist.toFloorPosition();
-//                    caseState = 4;
-//                }
-//                break;
-//            case 4:
-//                if (clawTimer.getElapsedTimeSeconds() > 6) {
-//                    claw.closeClaw();
-//                    caseState = 5;
-//                }
-//                break;
-//            case 5:
-//                if (armTimer.getElapsedTimeSeconds() > 8) {
-//                    arm.toBucketPosition();
-//                    wrist.toBucketPosition();
-//                    caseState = 6;
-//                }
-//                break;
-//            case 6:
-//                if (clawTimer.getElapsedTimeSeconds() > 10) {
-//                    claw.openClaw();
-//                    caseState = 7;
-//                }
-//                break;
-//            case 7:
-//                this.init();
-//                break;
-//        }
-//    }
-//}

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

@@ -1,193 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots;
-
-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.ArmActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.AutoLine1;
-import org.firstinspires.ftc.teamcode.subsystem.ClawActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
-
-public class CometBotAutoDevelopment {
-
-    /*
-    Subsystems
-     */
-    private MotorsSubsystem motors;
-    public ClawActionsSubsystem claw;
-    public ArmActionsSubsystem arm;
-    public WristActionsSubsystem wrist;
-    public LiftActionsSubsystem lift;
-
-    /*
-    Controllers
-     */
-    public Gamepad GP1;
-    public Gamepad GP2;
-    public Gamepad currentGP1;
-    public Gamepad previousGP1;
-    public Gamepad currentGP2;
-    public Gamepad previousGP2;
-    private Telemetry telemetry;
-    public FieldStates fieldStates;
-
-    private Follower follower;
-
-    /*
-        Actions - Path
-     */
-    private AutoLine1 myFirstPath;
-
-    public CometBotAutoDevelopment(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
-        this.motors = new MotorsSubsystem(hardwareMap, telemetry, .55);
-        this.claw = new ClawActionsSubsystem(hardwareMap);
-        this.arm = new ArmActionsSubsystem(hardwareMap);
-        this.wrist = new WristActionsSubsystem(hardwareMap);
-        this.lift = new LiftActionsSubsystem(hardwareMap);
-        this.GP1 = gp1;
-        this.GP2 = gp2;
-        this.telemetry = telemetry;
-        this.currentGP1 = new Gamepad();
-        this.currentGP2 = new Gamepad();
-        this.previousGP1 = new Gamepad();
-        this.previousGP2 = new Gamepad();
-        this.fieldStates = new FieldStates();
-        this.follower = new Follower(hardwareMap);
-    }
-
-    public void init() {
-        this.motors.init();
-        this.claw.init();
-        this.arm.init();
-        this.wrist.init();
-        this.lift.init();
-        this.fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-        follower.setMaxPower(.75);
-        follower.startTeleopDrive();
-    }
-
-    public void update() {
-        this.previousGP1.copy(currentGP1);
-        this.currentGP1.copy(this.GP1);
-        this.previousGP2.copy(currentGP2);
-        this.currentGP2.copy(this.GP2);
-
-        this.toHighBucketScore();
-        this.toLowBucketScore();
-        this.toArmParkPosition();
-        this.toArmParkThenSwitchBetweenSubmarineAndFloorPosition();
-        this.clawControl();
-
-//        this.motors.calculateTrajectory(this.GP1);
-        follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x);
-        follower.update();
-        this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
-        this.telemetry.addData("Claw State", this.claw.getState());
-        this.telemetry.addData("Claw Position", this.claw.getPosition());
-        this.telemetry.addData("Wrist State", this.wrist.getState());
-        this.telemetry.addData("Arm State", this.arm.getState());
-        this.telemetry.addData("Lift State", this.lift.getState());
-        this.telemetry.addData("Lift Position", this.lift.getPosition());
-    }
-
-
-    /*
-    Controller: 1
-    Button: A
-    Action: On button press, Arm hovers the floor with wrist parallel to arm
-     */
-    public void toHighBucketScore() {
-        if (this.currentGP1.triangle && !this.previousGP1.triangle) {
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-            Actions.runBlocking(new SequentialAction(
-                    this.wrist.toFloorPosition(),
-                    this.arm.toParkPosition(),
-                    this.lift.toHighBucketPosition(),
-                    new SleepAction(.5),
-                    this.arm.toBucketPosition(),
-                    new SleepAction(.5),
-                    this.wrist.toBucketPosition(),
-                    new SleepAction(.5),
-                    this.claw.openClaw(),
-                    new SleepAction(.5),
-                    this.wrist.toFloorPosition(),
-                    new SleepAction(.5),
-                    this.arm.toParkPosition(),
-                    this.lift.toFloorPosition()
-            ));
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-        }
-    }
-
-    public void toLowBucketScore() {
-        if (this.currentGP1.circle && !this.previousGP1.circle) {
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-            Actions.runBlocking(new SequentialAction(
-                    this.wrist.toFloorPosition(),
-                    this.arm.toParkPosition(),
-                    this.lift.toLowBucketPosition(),
-                    new SleepAction(.5),
-                    this.arm.toBucketPosition(),
-                    new SleepAction(.5),
-                    this.wrist.toBucketPosition(),
-                    new SleepAction(.5),
-                    this.claw.openClaw(),
-                    new SleepAction(.5),
-                    this.wrist.toFloorPosition(),
-                    new SleepAction(.5),
-                    this.arm.toParkPosition(),
-                    this.lift.toFloorPosition()
-            ));
-            fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-        }
-    }
-
-    public void clawControl() {
-        if (this.currentGP1.right_bumper && !this.previousGP1.right_bumper) {
-            this.claw.switchState();
-        }
-    }
-
-    public void toArmParkPosition() {
-        if (this.currentGP1.square && !this.previousGP1.square) {
-            Actions.runBlocking(this.arm.toParkPosition());
-        }
-    }
-
-    public void toArmParkThenSwitchBetweenSubmarineAndFloorPosition() {
-        if (this.currentGP1.cross && !previousGP1.cross) {
-            if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {
-                Actions.runBlocking(
-                        new SequentialAction(
-                                this.arm.toSubmarinePosition(),
-                                this.wrist.toFloorPosition()
-                        )
-                );
-            } else if (this.arm.getState() == ArmActionsSubsystem.ArmState.SUBMARINE) {
-                Actions.runBlocking(
-                        new SequentialAction(
-                                this.arm.toFloorPosition(),
-                                this.wrist.toFloorPosition()
-                        )
-                );
-            } else if (this.arm.getState() == ArmActionsSubsystem.ArmState.FLOOR) {
-                Actions.runBlocking(
-                        new SequentialAction(
-                                this.arm.toSubmarinePosition(),
-                                this.wrist.toFloorPosition()
-                        )
-                );
-            }
-        }
-    }
-
-}

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

@@ -1,356 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots;
-
-import static org.firstinspires.ftc.teamcode.PedroConstants.CENTRICITY;
-import static org.firstinspires.ftc.teamcode.PedroConstants.MAX_POWER;
-
-import com.acmerobotics.roadrunner.SequentialAction;
-import com.acmerobotics.roadrunner.SleepAction;
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.hardware.Gamepad;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.states.FieldStates;
-import org.firstinspires.ftc.teamcode.subsystem.ArmActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.ClawActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.SkyHookSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
-
-public class CometBotTeleopCompetition {
-
-    /*
-    Subsystems
-     */
-    private MotorsSubsystem motors;
-    public ClawActionsSubsystem claw;
-    public ArmActionsSubsystem arm;
-    public WristActionsSubsystem wrist;
-    public LiftActionsSubsystem lift;
-    public SkyHookSubsystem hook;
-
-    /*
-    Controllers
-     */
-    public Gamepad GP1;
-    public Gamepad GP2;
-    public Gamepad currentGP1;
-    public Gamepad previousGP1;
-    public Gamepad currentGP2;
-    public Gamepad previousGP2;
-
-    /*
-    Pedro/FTC Components
-     */
-    private Follower follower;
-    private Telemetry telemetry;
-
-    /*
-    States
-     */
-    public FieldStates fieldStates;
-
-    /*
-    Configurations
-     */
-    public double currentPower = MAX_POWER;
-
-    public CometBotTeleopCompetition(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
-        this.motors = new MotorsSubsystem(hardwareMap, telemetry, .55);
-        this.claw = new ClawActionsSubsystem(hardwareMap);
-        this.arm = new ArmActionsSubsystem(hardwareMap);
-        this.wrist = new WristActionsSubsystem(hardwareMap);
-        this.lift = new LiftActionsSubsystem(hardwareMap);
-        this.hook = new SkyHookSubsystem(hardwareMap);
-
-        this.GP1 = gp1;
-        this.GP2 = gp2;
-        this.telemetry = telemetry;
-        this.currentGP1 = new Gamepad();
-        this.currentGP2 = new Gamepad();
-        this.previousGP1 = new Gamepad();
-        this.previousGP2 = new Gamepad();
-        this.fieldStates = new FieldStates();
-        this.follower = new Follower(hardwareMap);
-    }
-
-    public void init() {
-        this.motors.init();
-        this.hook.init();
-        this.claw.init();
-        this.arm.init();
-        this.wrist.init();
-        this.lift.init();
-        this.fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-        follower.setMaxPower(MAX_POWER);
-        follower.startTeleopDrive();
-    }
-
-    public void initCloseClaw(){
-        this.motors.init();
-        this.hook.init();
-        this.claw.init();
-        this.arm.init();
-        this.wrist.init();
-        this.lift.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.moveSkyHook();
-        this.toHighBucketScore();
-        this.toLowBucketScore();
-        this.toArmParkPosition();
-        this.toArmParkThenSwitchBetweenSubmarineAndFloorPosition();
-        this.clawControl();
-        this.decreaseMaxPower();
-        this.increaseMaxPower();
-
-
-        Actions.runBlocking(this.lift.toFloorPosition());
-
-        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());
-        this.telemetry.addData("Claw State", this.claw.getState());
-        this.telemetry.addData("Claw Position", this.claw.getPosition());
-        this.telemetry.addData("Wrist State", this.wrist.getState());
-        this.telemetry.addData("Arm State", this.arm.getState());
-        this.telemetry.addData("Lift State", this.lift.getState());
-        this.telemetry.addData("Lift Position", this.lift.getPosition());
-        this.telemetry.addData("MaxPower", MAX_POWER);
-    }
-
-    /*
-    Type: PS4 / Logitech
-    Controller: 1
-    Button: Left Bumper
-    Assumption: Working motor mechanism
-    Action: Decreases maximum speed by -.05
-     */
-    public void decreaseMaxPower() {
-        if (this.currentGP1.left_bumper && !this.previousGP1.left_bumper) {
-            this.currentPower = this.currentPower - .05;
-            this.follower.setMaxPower(this.currentPower);
-        }
-    }
-
-    /*
-    Type: PS4 / Logitech
-    Controller: 1
-    Button: Left Bumper
-    Assumption: Working motor mechanism
-    Action: Increases maximum speed by +.05
-     */
-    public void increaseMaxPower() {
-        if (this.currentGP1.right_bumper && !this.previousGP1.right_bumper) {
-            this.currentPower = this.currentPower + .05;
-            this.follower.setMaxPower(this.currentPower);
-        }
-    }
-    public void moveSkyHook() {
-        if (this.currentGP2.dpad_down) {
-            hook.moveSkyHook(-1.00);
-        }
-        else if (this.currentGP2.dpad_up) {
-            hook.moveSkyHook(1.00);
-        }
-        else{
-            hook.moveSkyHook(0.00);
-        }
-
-    }
-
-    /*
-    Type: PS4 / Logitech
-    Controller: 2
-    Button: TRIANGLE / Y
-    Assumption: Claw is holding specimen, robot is facing buckets ready to score
-    Action: On button press, enter BUCKET state, arm is lifted up, wrist is lifted up and lift
-            raises to high bucket.  Once at high bucket position, move arm forward, wrist forward
-            and open claw to drop specimen into bucket.  Finally, put arm back up and wrist back up,
-            retract lift all the way down to floor position and back to TRAVELING state.
-     */
-    public void toHighBucketScore() {
-        if (this.currentGP2.triangle && !this.previousGP2.triangle) {
-            if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {
-                this.follower.breakFollowing();
-                fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-                highBucketDrop();
-                fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-                this.follower.startTeleopDrive();
-            }
-        }
-    }
-
-    public void highBucketDrop() {
-        Actions.runBlocking(new SequentialAction(
-                new SleepAction(.5),
-                this.lift.toHighBucketPosition(),
-                new SleepAction(.5),
-                this.arm.toBucketPosition(),
-                new SleepAction(.5),
-                this.wrist.toBucketPosition(),
-                new SleepAction(.5),
-                this.claw.openClaw(),
-                new SleepAction(.5),
-                this.wrist.toFloorPosition(),
-                new SleepAction(.5),
-                this.arm.toParkPosition(),
-                this.lift.toFloorPosition(),
-                new SleepAction(.5)
-        ));
-    }
-    public void highBucketDropAuto() {
-        Actions.runBlocking(new SequentialAction(
-                new SleepAction(.1),
-                this.lift.toHighBucketPosition(),
-                new SleepAction(.25),
-                this.arm.toBucketPosition(),
-                new SleepAction(.25),
-                this.wrist.toBucketPosition(),
-                new SleepAction(.25),
-                this.claw.openClaw(),
-                new SleepAction(.25),
-                this.wrist.toFloorPosition(),
-                new SleepAction(.25),
-                this.arm.toParkPosition(),
-                this.lift.toZeroPosition(),
-                new SleepAction(.25)
-        ));
-    }
-    /*
-    Type: PS4 / Logitech
-    Controller: 2
-    Button: CIRCLE / B
-    Assumption: Claw is holding specimen, robot is facing buckets ready to score
-    Action: On button press, enter BUCKET state, arm is lifted up, wrist is lifted up and lift
-            raises to low bucket.  Once at low bucket position, move arm forward, wrist forward
-            and open claw to drop specimen into bucket.  Finally, put arm back up and wrist back up,
-            retract lift all the way down to floor position and back to TRAVELING state.
-     */
-    public void toLowBucketScore() {
-        if (this.currentGP2.circle && !this.previousGP2.circle) {
-            if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {
-                this.follower.breakFollowing();
-                fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-                Actions.runBlocking(new SequentialAction(
-                        new SleepAction(.5),
-                        this.lift.toLowBucketPosition(),
-                        new SleepAction(.5),
-                        this.arm.toBucketPosition(),
-                        new SleepAction(.5),
-                        this.wrist.toBucketPosition(),
-                        new SleepAction(.5),
-                        this.claw.openClaw(),
-                        new SleepAction(.5),
-                        this.wrist.toFloorPosition(),
-                        new SleepAction(.5),
-                        this.arm.toParkPosition(),
-                        this.lift.toFloorPosition(),
-                        new SleepAction(.5)
-                ));
-                fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-                this.follower.startTeleopDrive();
-            }
-        }
-    }
-
-    /*
-    Type: PS4 / Logitech
-    Controller: 2
-    Button: RIGHT BUMPER
-    Assumption: Working claw mechanism
-    Action: On button press, claw switches state from OPEN to CLOSE
-     */
-    public void clawControl() {
-        if (this.currentGP2.right_bumper && !this.previousGP2.right_bumper) {
-            this.claw.switchState();
-        }
-    }
-
-    /*
-    Type: PS4 / Logitech
-    Controller: 2
-    Button: SQUARE / X
-    Assumption: Working arm mechanism
-    Action: On button press, pulls arm up and wrist up, ideal for traveling the field when
-            holding a specimen in claws
-     */
-    public void toArmParkPosition() {
-        if (this.currentGP2.square && !this.previousGP2.square) {
-            Actions.runBlocking(new SequentialAction(
-                    this.wrist.toFloorPosition(),
-                    this.arm.toParkPosition(),
-                    this.lift.toFloorPosition()
-            ));
-        }
-    }
-
-
-
-
-    /*
-    Type: PS4
-    Controller: 2
-    Button: CROSS / A
-    Assumption: Working claw, arm and wrist mechanisms
-    Action: On button press, if arm is in PARK (toArmParkPosition), drop the arm to SUBMARINE
-            position.  SUBMARINE position means the arm and wrist are parallel to the floor, raised
-            3 INCHES off the ground.  This state is ideal for moving the arm into the SUBMARINE
-            area of the field.
-
-            When arm is in SUBMARINE position, pressing the button again puts the arm and wrist into
-            FLOOR state.  This angles the arm and wrist down so that it is able to pick specimens
-            from within the SUBMARINE floor.
-     */
-    public void toArmParkThenSwitchBetweenSubmarineAndFloorPosition() {
-        if (this.currentGP2.cross && !previousGP2.cross) {
-            if (this.arm.getState() == ArmActionsSubsystem.ArmState.PARK) {
-                Actions.runBlocking(
-                        new SequentialAction(
-                                this.arm.toSubmarinePosition(),
-                                this.wrist.toFloorPosition()
-                        )
-                );
-            } else if (this.arm.getState() == ArmActionsSubsystem.ArmState.SUBMARINE && this.wrist.getState() == WristActionsSubsystem.WristState.FLOOR) {
-                Actions.runBlocking(
-                        new SequentialAction(
-//                                this.lift.toFloorPosition(),
-                                this.arm.toSubmarinePosition(),
-                                this.wrist.toPickupPosition()
-                        )
-                );
-            } else if (this.wrist.getState() == WristActionsSubsystem.WristState.PICKUP) {
-                Actions.runBlocking(
-                        new SequentialAction(
-                                //  this.arm.toSubmarinePosition(),
-                                this.wrist.toFloorPosition()
-                        )
-                );
-            }
-        }
-    }
-
-
-
-
-
-
-
-
-
-
-    }
-
-
-

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

@@ -1,186 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots;
-
-public class CometBotTeleopDevelopment {
-
-}
-
-//import com.qualcomm.robotcore.hardware.Gamepad;
-//import com.qualcomm.robotcore.hardware.HardwareMap;
-//
-//import org.firstinspires.ftc.robotcore.external.Telemetry;
-//import org.firstinspires.ftc.teamcode.states.FieldStates;
-//import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
-//import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
-//import org.firstinspires.ftc.teamcode.subsystem.LiftSubsystem;
-//import org.firstinspires.ftc.teamcode.subsystem.MotorsSubsystem;
-//import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
-//import org.firstinspires.ftc.teamcode.util.action.Actions;
-//import org.firstinspires.ftc.teamcode.util.action.SequentialAction;
-//import org.firstinspires.ftc.teamcode.util.action.SleepAction;
-//
-//public class DevTeleopRunMode {
-//
-//    /*
-//    Subsystems
-//     */
-//    private MotorsSubsystem motors;
-//    public ClawSubsystem claw;
-//    public ArmSubsystem arm;
-//    public WristSubsystem wrist;
-//    public LiftSubsystem lift;
-//
-//    /*
-//    Controllers
-//     */
-//    public Gamepad GP1;
-//    public Gamepad GP2;
-//    public Gamepad currentGP1;
-//    public Gamepad previousGP1;
-//    public Gamepad currentGP2;
-//    public Gamepad previousGP2;
-//    private Telemetry telemetry;
-//    public FieldStates fieldStates;
-//
-//    public DevTeleopRunMode(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
-//        this.motors = new MotorsSubsystem(hardwareMap, telemetry, .55);
-//        this.claw = new ClawSubsystem(hardwareMap, telemetry);
-//        this.arm = new ArmSubsystem(hardwareMap, telemetry);
-//        this.wrist = new WristSubsystem(hardwareMap, telemetry);
-//        this.lift = new LiftSubsystem(hardwareMap, telemetry);
-//        this.GP1 = gp1;
-//        this.GP2 = gp2;
-//        this.telemetry = telemetry;
-//        this.currentGP1 = new Gamepad();
-//        this.currentGP2 = new Gamepad();
-//        this.previousGP1 = new Gamepad();
-//        this.previousGP2 = new Gamepad();
-//        this.fieldStates = new FieldStates();
-//    }
-//
-//    public void init() {
-//        this.motors.init();
-//        this.claw.init();
-//        this.arm.init();
-//        this.wrist.init();
-//        this.lift.init();
-//    }
-//
-//    public void update() {
-//        this.previousGP1.copy(currentGP1);
-//        this.currentGP1.copy(this.GP1);
-//        this.previousGP2.copy(currentGP2);
-//        this.currentGP2.copy(this.GP2);
-//        this.toTravelfromField();
-//        this.thePickup();
-//        this.toFieldFromBucketScore();
-//        this.toLowBucketScore();
-//        this.toHighBucketScore();
-//        this.toHold();
-//        this.motors.calculateTrajectory(this.GP1);
-//        this.telemetry.addData("Field State", this.fieldStates.getFieldLocation());
-//        this.telemetry.addData("Claw State", this.claw.getState());
-//        this.telemetry.addData("Claw Position", this.claw.getPosition());
-//        this.telemetry.addData("Wrist State", this.wrist.getState());
-//        this.telemetry.addData("Arm State", this.arm.getState());
-//        this.telemetry.addData("Lift State", this.lift.getState());
-//        this.telemetry.addData("Lift Position", this.lift.getPosition());
-//    }
-//
-//    /*
-//    Controller: 1
-//    Button: A
-//    Action: On button press, Arm hovers the floor with wrist parallel to arm
-//     */
-//    public void toTravelfromField() {
-//        if (this.currentGP1.dpad_down && !this.previousGP1.dpad_down) {
-//            if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.TRAVELING &&
-//                    this.lift.getPosition() < 40) {
-//                Actions.runBlocking(new SequentialAction(
-//                        this.wrist.toFloorPosition,
-//                        new SleepAction(.75),
-//                        this.arm.toFloorPosition
-//                ));
-//                fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-//            }
-//        }
-//    }
-//
-//    /*
-//    Controller: 1
-//    Button: Right Bumper
-//    Action: On button press, open and closes claw
-//     */
-//    public void thePickup() {
-//        if (this.currentGP1.right_bumper && !this.previousGP1.right_bumper) {
-//            this.claw.switchState();
-//        }
-//    }
-//
-//    /*
-//   Controller: 1
-//   Button: Right Bumper
-//   Action: On button press, open and closes claw
-//    */
-//    public void toHold() {
-//        if (this.currentGP1.left_bumper && !this.previousGP1.left_bumper) {
-//            Actions.runBlocking(new SequentialAction(
-//                    arm.toParkPosition,
-//                    wrist.toFloorPosition
-//            ));
-//        }
-//    }
-//
-//    /*
-//    Controller: 2
-//    Button: Y
-//    Action: On button press, lift to low bucket height,
-//            arm to bucket position, wrist to bucket position
-//     */
-//    public void toLowBucketScore() {
-//        if (this.currentGP1.a && !this.previousGP1.a) {
-//            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-//            Actions.runBlocking(new SequentialAction(
-//                    lift.toLowBucket,
-//                    arm.toBucketPosition,
-//                    wrist.toBucketPosition
-//            ));
-//        }
-//    }
-//
-//    /*
-//    Controller: 2
-//    Button: A
-//    Action: On button press, lift to low bucket height,
-//            arm to bucket position, wrist to bucket position
-//     */
-//    public void toHighBucketScore() {
-//        if (this.currentGP1.b && !this.previousGP1.b) {
-//            fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
-//            Actions.runBlocking(new SequentialAction(
-//                    lift.toHighBucket,
-//                    arm.toBucketPosition,
-//                    wrist.toBucketPosition
-//            ));
-//        }
-//    }
-//
-//    /*
-//    Controller: 2
-//    Button: Direction Pad DOWN
-//    Action: On directional press, lift to floor height,
-//            arm to bucket position, wrist to floor position
-//     */
-//    public void toFieldFromBucketScore() {
-//        if (this.currentGP1.dpad_right && !this.previousGP1.dpad_right) {
-//            if (fieldStates.getFieldLocation() == FieldStates.FieldLocation.BUCKET) {
-//                Actions.runBlocking(new SequentialAction(
-//                        lift.toFloor,
-//                        arm.toBucketPosition,
-//                        wrist.toFloorPosition
-//                ));
-////                fieldStates.setFieldLocation(FieldStates.FieldLocation.FIELD);
-//            }
-//        }
-//    }
-//
-//}

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

@@ -1,91 +0,0 @@
-/* Copyright (c) 2021 FIRST. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted (subject to the limitations in the disclaimer below) provided that
- * the following conditions are met:
- *
- * Redistributions of source code must retain the above copyright notice, this list
- * of conditions and the following disclaimer.
- *
- * Redistributions in binary form must reproduce the above copyright notice, this
- * list of conditions and the following disclaimer in the documentation and/or
- * other materials provided with the distribution.
- *
- * Neither the name of FIRST nor the names of its contributors may be used to endorse or
- * promote products derived from this software without specific prior written permission.
- *
- * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
- * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
- * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-package org.firstinspires.ftc.teamcode.cometbots.tests;
-
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.Gamepad;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-import org.firstinspires.ftc.teamcode.subsystem.ArmActionsSubsystem;
-
-@TeleOp(name = "Arm Test", group = "Debug")
-public class ArmTest extends LinearOpMode {
-
-    // Declare OpMode members for each of the 4 motors.
-    private final ElapsedTime runtime = new ElapsedTime();
-
-    @Override
-    public void runOpMode() {
-
-        /*
-         * Instantiate Arm
-         */
-        ArmActionsSubsystem arm = new ArmActionsSubsystem(hardwareMap);
-
-        /*
-         * Instantiate gamepad state holders
-         */
-        Gamepad currentGamepad1 = new Gamepad();
-        Gamepad previousGamepad1 = new Gamepad();
-
-        arm.init();
-        waitForStart();
-        runtime.reset();
-
-        // run until the end of the match (driver presses STOP)
-        while (opModeIsActive()) {
-
-            previousGamepad1.copy(currentGamepad1);
-            currentGamepad1.copy(gamepad1);
-
-            if (currentGamepad1.circle && !previousGamepad1.circle) {
-                arm.toParkPosition();
-            }
-
-            if (currentGamepad1.square && !previousGamepad1.square) {
-                arm.toBucketPosition();
-            }
-
-            if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
-                arm.setPosition(arm.getPosition() - .05);
-            }
-
-            if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
-                arm.setPosition(arm.getPosition() + .05);
-            }
-
-            telemetry.addData("Status", "Run Time: " + runtime.toString());
-            telemetry.addData("Arm State", arm.getState());
-            telemetry.addData("Arm Position", arm.getPosition());
-            telemetry.update();
-        }
-    }
-}

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

@@ -1,80 +0,0 @@
-/* Copyright (c) 2021 FIRST. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted (subject to the limitations in the disclaimer below) provided that
- * the following conditions are met:
- *
- * Redistributions of source code must retain the above copyright notice, this list
- * of conditions and the following disclaimer.
- *
- * Redistributions in binary form must reproduce the above copyright notice, this
- * list of conditions and the following disclaimer in the documentation and/or
- * other materials provided with the distribution.
- *
- * Neither the name of FIRST nor the names of its contributors may be used to endorse or
- * promote products derived from this software without specific prior written permission.
- *
- * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
- * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
- * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-package org.firstinspires.ftc.teamcode.cometbots.tests;
-
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.Gamepad;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-import org.firstinspires.ftc.teamcode.subsystem.ClawActionsSubsystem;
-
-
-@TeleOp(name = "Claw Test", group = "Debug")
-public class ClawTest extends LinearOpMode {
-
-    // Declare OpMode members for each of the 4 motors.
-    private final ElapsedTime runtime = new ElapsedTime();
-
-    @Override
-    public void runOpMode() {
-
-        /*
-         * Instantiate Claw
-         */
-        ClawActionsSubsystem claw = new ClawActionsSubsystem(hardwareMap);
-
-        /*
-         * Instantiate gamepad state holders
-         */
-        Gamepad currentGamepad1 = new Gamepad();
-        Gamepad previousGamepad1 = new Gamepad();
-
-        waitForStart();
-        claw.init();
-        runtime.reset();
-
-        // run until the end of the match (driver presses STOP)
-        while (opModeIsActive()) {
-
-            previousGamepad1.copy(currentGamepad1);
-            currentGamepad1.copy(gamepad1);
-
-            if (currentGamepad1.cross && !previousGamepad1.cross) {
-                claw.switchState();
-            }
-
-            // Show the elapsed game time and wheel power.
-            telemetry.addData("Status", "Run Time: " + runtime.toString());
-            telemetry.addData("Claw State", claw.getState());
-            telemetry.update();
-        }
-    }
-}

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

@@ -1,100 +0,0 @@
-/* Copyright (c) 2021 FIRST. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted (subject to the limitations in the disclaimer below) provided that
- * the following conditions are met:
- *
- * Redistributions of source code must retain the above copyright notice, this list
- * of conditions and the following disclaimer.
- *
- * Redistributions in binary form must reproduce the above copyright notice, this
- * list of conditions and the following disclaimer in the documentation and/or
- * other materials provided with the distribution.
- *
- * Neither the name of FIRST nor the names of its contributors may be used to endorse or
- * promote products derived from this software without specific prior written permission.
- *
- * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
- * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
- * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-package org.firstinspires.ftc.teamcode.cometbots.tests;
-
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.Gamepad;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
-
-@TeleOp(name = "Lift Test", group = "Debug")
-public class LiftTest extends LinearOpMode {
-
-    private final ElapsedTime runtime = new ElapsedTime();
-
-    @Override
-    public void runOpMode() {
-
-        /*
-         * Instantiate Lift
-         */
-        LiftActionsSubsystem lift = new LiftActionsSubsystem(hardwareMap);
-
-        /*
-         * Instantiate gamepad state holders
-         */
-        Gamepad currentGamepad1 = new Gamepad();
-        Gamepad previousGamepad1 = new Gamepad();
-
-        lift.init();
-        waitForStart();
-        runtime.reset();
-
-
-        // run until the end of the match (driver presses STOP)
-        while (opModeIsActive()) {
-
-            previousGamepad1.copy(currentGamepad1);
-            currentGamepad1.copy(gamepad1);
-
-            if (currentGamepad1.square && !previousGamepad1.square) {
-                Actions.runBlocking(lift.toFloorPosition());
-            }
-
-            if (currentGamepad1.triangle && !previousGamepad1.triangle) {
-                Actions.runBlocking(lift.toHighBucketPosition());
-            }
-
-            if (currentGamepad1.circle && !previousGamepad1.circle) {
-                Actions.runBlocking(lift.toLowBucketPosition());
-            }
-
-            if (currentGamepad1.cross && !previousGamepad1.cross) {
-                lift.switchState();
-            }
-
-            if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
-                lift.setPosition(lift.getPosition() + 25);
-            }
-
-            if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
-                lift.setPosition(lift.getPosition() - 25);
-            }
-
-            // Show the elapsed game time and wheel power.
-            telemetry.addData("Status", "Run Time: " + runtime.toString());
-            telemetry.addData("Lift Drive Position", lift.getPosition());
-            telemetry.update();
-        }
-    }
-}

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

@@ -1,137 +0,0 @@
-/* Copyright (c) 2021 FIRST. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted (subject to the limitations in the disclaimer below) provided that
- * the following conditions are met:
- *
- * Redistributions of source code must retain the above copyright notice, this list
- * of conditions and the following disclaimer.
- *
- * Redistributions in binary form must reproduce the above copyright notice, this
- * list of conditions and the following disclaimer in the documentation and/or
- * other materials provided with the distribution.
- *
- * Neither the name of FIRST nor the names of its contributors may be used to endorse or
- * promote products derived from this software without specific prior written permission.
- *
- * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
- * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
- * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-package org.firstinspires.ftc.teamcode.cometbots.tests;
-
-import com.acmerobotics.roadrunner.SequentialAction;
-import com.acmerobotics.roadrunner.SleepAction;
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.Gamepad;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-import org.firstinspires.ftc.teamcode.subsystem.ArmActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.ClawActionsSubsystem;
-
-
-@TeleOp(name = "Lift Wrist Arm Test", group = "Debug")
-public class LiftWristArmTest extends LinearOpMode {
-
-    private final ElapsedTime runtime = new ElapsedTime();
-
-    @Override
-    public void runOpMode() {
-
-        /*
-         * Instantiate Lift
-         */
-        LiftActionsSubsystem lift = new LiftActionsSubsystem(hardwareMap);
-        WristActionsSubsystem wrist = new WristActionsSubsystem(hardwareMap);
-        ArmActionsSubsystem arm = new ArmActionsSubsystem(hardwareMap);
-        ClawActionsSubsystem claw = new ClawActionsSubsystem(hardwareMap);
-
-
-        /*
-         * Instantiate gamepad state holders
-         */
-        Gamepad currentGamepad1 = new Gamepad();
-        Gamepad previousGamepad1 = new Gamepad();
-
-        lift.init();
-        wrist.init();
-        arm.init();
-        claw.init();
-        waitForStart();
-        runtime.reset();
-
-
-        // run until the end of the match (driver presses STOP)
-        while (opModeIsActive()) {
-
-            previousGamepad1.copy(currentGamepad1);
-            currentGamepad1.copy(gamepad1);
-
-            if (currentGamepad1.dpad_up && !previousGamepad1.dpad_up) {
-                arm.setPosition(arm.getPosition() + .05);
-            }
-
-            if (currentGamepad1.dpad_down && !previousGamepad1.dpad_down) {
-                arm.setPosition(arm.getPosition() - .05);
-            }
-            if (currentGamepad1.circle && !previousGamepad1.circle) {
-                claw.switchState();
-            }
-            if (currentGamepad1.dpad_left && !previousGamepad1.dpad_left) {
-                Actions.runBlocking(
-                        new SequentialAction(
-                                lift.toHighRung(),
-                                arm.toBucketPosition(),
-                                wrist.toRungPosition(),
-                                new SleepAction(0.5),
-                                lift.toHighRungAttach(),
-                                new SleepAction(0.5),
-                                claw.openClaw())
-                );
-
-                //Delete open claw
-            }
-
-
-            if (currentGamepad1.triangle && !previousGamepad1.triangle) {
-                wrist.setPosition(wrist.getPosition() + .05);
-            }
-
-            if (currentGamepad1.cross && !previousGamepad1.cross) {
-                wrist.setPosition(wrist.getPosition() - .05);
-            }
-
-            if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
-                lift.setPosition(lift.getPosition() + 100);
-            }
-
-            if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
-                if (lift.getPosition() > 1000) {
-                    lift.setPosition(lift.getPosition()-1000);
-                }
-            }
-
-
-            // Show the elapsed game time and wheel power.
-            telemetry.addData("Status", "Run Time: " + runtime.toString());
-            telemetry.addData("Lift Drive Position", lift.getPosition());
-            telemetry.addData("Wrist Position", wrist.getPosition());
-            telemetry.addData("Arm Position", arm.getPosition());
-
-            telemetry.update();
-        }
-    }
-}

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

@@ -1,88 +0,0 @@
-/* Copyright (c) 2021 FIRST. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted (subject to the limitations in the disclaimer below) provided that
- * the following conditions are met:
- *
- * Redistributions of source code must retain the above copyright notice, this list
- * of conditions and the following disclaimer.
- *
- * Redistributions in binary form must reproduce the above copyright notice, this
- * list of conditions and the following disclaimer in the documentation and/or
- * other materials provided with the distribution.
- *
- * Neither the name of FIRST nor the names of its contributors may be used to endorse or
- * promote products derived from this software without specific prior written permission.
- *
- * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
- * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
- * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-package org.firstinspires.ftc.teamcode.cometbots.tests;
-
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.Gamepad;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.SkyHookSubsystem;
-
-@TeleOp(name = "Skyhook Test", group = "Debug")
-public class SkyhookTest extends LinearOpMode {
-
-    private final ElapsedTime runtime = new ElapsedTime();
-
-    @Override
-    public void runOpMode() {
-
-        /*
-         * Instantiate Lift
-         */
-        SkyHookSubsystem hook = new SkyHookSubsystem(hardwareMap);
-
-        /*
-         * Instantiate gamepad state holders
-         */
-
-        Gamepad currentGamepad2 = new Gamepad();
-        Gamepad previousGamepad2 = new Gamepad();
-
-
-        hook.init();
-        waitForStart();
-        runtime.reset();
-
-
-        // run until the end of the match (driver presses STOP)
-        while (opModeIsActive()) {
-
-            previousGamepad2.copy(currentGamepad2);
-            currentGamepad2.copy(gamepad2);
-
-            if (currentGamepad2.dpad_up) {
-                hook.moveSkyHook(-1.00);;
-            } else if (currentGamepad2.dpad_down) {
-                hook.moveSkyHook(1.00);
-            } else {
-                hook.moveSkyHook(0.00);
-            }
-
-
-            // Show the elapsed game time and wheel power.
-            telemetry.addData("Status", "Run Time: " + runtime.toString());
-            telemetry.addData("Skyhook Position", hook.getHookPosition());
-            telemetry.update();
-        }
-    }
-}

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

@@ -1,196 +0,0 @@
-/* Copyright (c) 2021 FIRST. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted (subject to the limitations in the disclaimer below) provided that
- * the following conditions are met:
- *
- * Redistributions of source code must retain the above copyright notice, this list
- * of conditions and the following disclaimer.
- *
- * Redistributions in binary form must reproduce the above copyright notice, this
- * list of conditions and the following disclaimer in the documentation and/or
- * other materials provided with the distribution.
- *
- * Neither the name of FIRST nor the names of its contributors may be used to endorse or
- * promote products derived from this software without specific prior written permission.
- *
- * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
- * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
- * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-package org.firstinspires.ftc.teamcode.cometbots.tests;
-
-import 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.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.Gamepad;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Path;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-import org.firstinspires.ftc.teamcode.subsystem.ArmActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.AutoLine1;
-import org.firstinspires.ftc.teamcode.subsystem.ClawActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
-
-
-@TeleOp(name = "SpecimenTest", group = "Debug")
-public class SpecimenTest extends LinearOpMode {
-
-    private final ElapsedTime runtime = new ElapsedTime();
-
-    private PathChain path;
-
-    private Follower robot;
-
-    private final Pose startPose = new Pose(36, 72);
-
-
-
-
-    public AutoLine1 firstPath = new AutoLine1();
-
-    @Override
-    public void runOpMode() {
-
-
-        /*
-         * Instantiate Lift
-         */
-        LiftActionsSubsystem lift = new LiftActionsSubsystem(hardwareMap);
-        WristActionsSubsystem wrist = new WristActionsSubsystem(hardwareMap);
-        ArmActionsSubsystem arm = new ArmActionsSubsystem(hardwareMap);
-        ClawActionsSubsystem claw = new ClawActionsSubsystem(hardwareMap);
-        Follower robot = new Follower(hardwareMap);
-        firstPath.moveToPath1(robot);
-
-        /*
-          Robot stuff
-         */
-        robot.setStartingPose(startPose);
-        path = robot.pathBuilder().addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(37.500, 72.000, Point.CARTESIAN),
-                                new Point(36.000, 72.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0)).build();
-
-        /*
-         * Instantiate gamepad state holders
-         */
-        Gamepad currentGamepad1 = new Gamepad();
-        Gamepad previousGamepad1 = new Gamepad();
-        Gamepad currentGamepad2 = new Gamepad();
-        Gamepad previousGamepad2 = new Gamepad();
-
-        lift.init();
-        wrist.init();
-        arm.init();
-        claw.init();
-        robot.setMaxPower(.40);
-        robot.followPath(path);
-
-        waitForStart();
-        runtime.reset();
-
-
-        // run until the end of the match (driver presses STOP)
-        while (opModeIsActive()) {
-
-            previousGamepad1.copy(currentGamepad1);
-            currentGamepad1.copy(gamepad1);
-
-            previousGamepad2.copy(currentGamepad2);
-            currentGamepad2.copy(gamepad2);
-
-
-            robot.setTeleOpMovementVectors(-currentGamepad1.left_stick_y, -currentGamepad1.left_stick_x, -currentGamepad1.right_stick_x);
-            //robot.update();
-
-            if (currentGamepad1.dpad_up && !previousGamepad1.dpad_up) {
-                arm.setPosition(arm.getPosition() + .05);
-            }
-
-            if (currentGamepad1.dpad_down && !previousGamepad1.dpad_down) {
-                arm.setPosition(arm.getPosition() - .05);
-            }
-            if (currentGamepad1.circle && !previousGamepad1.circle) {
-                claw.switchState();
-            }
-            if (currentGamepad1.dpad_right && !previousGamepad1.dpad_right) {
-                robot.update();
-                Actions.runBlocking(
-                        new SequentialAction(
-                                wrist.toFloorPosition(),
-                                lift.toHighRung(),
-                                wrist.toSpeciemenBar(),
-                                lift.dropToHighRung()
-               //                 reverseMoveToPath(robot),
-                 //               claw.openClaw(),
-                   //             wrist.toFloorPosition(),
-                     //           lift.toFloorPosition()
-                        )
-                );
-            }
-
-
-            if (currentGamepad1.triangle && !previousGamepad1.triangle) {
-                wrist.setPosition(wrist.getPosition() + .05);
-            }
-
-            if (currentGamepad1.cross && !previousGamepad1.cross) {
-                wrist.setPosition(wrist.getPosition() - .05);
-            }
-
-            if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
-                lift.setPosition(lift.getPosition() + 175);
-            }
-
-            if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
-                lift.setPosition(lift.getPosition() - 25);
-            }
-
-            if (currentGamepad2.x && !previousGamepad2.x) {
-                while (true) {
-                    robot.update();
-                    if (!robot.isBusy()) {
-                        robot.breakFollowing();
-                        robot.startTeleopDrive();
-                        break;
-                    }
-                }
-            }
-
-
-            // Show the elapsed game time and wheel power.
-            telemetry.addData("Status", "Run Time: " + runtime.toString());
-            telemetry.addData("Lift Drive Position", lift.getPosition());
-            telemetry.addData("Wrist Position", wrist.getPosition());
-            telemetry.addData("Arm Position", arm.getPosition());
-
-            telemetry.update();
-        }
-    }
-}

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

@@ -1,97 +0,0 @@
-/* Copyright (c) 2021 FIRST. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted (subject to the limitations in the disclaimer below) provided that
- * the following conditions are met:
- *
- * Redistributions of source code must retain the above copyright notice, this list
- * of conditions and the following disclaimer.
- *
- * Redistributions in binary form must reproduce the above copyright notice, this
- * list of conditions and the following disclaimer in the documentation and/or
- * other materials provided with the distribution.
- *
- * Neither the name of FIRST nor the names of its contributors may be used to endorse or
- * promote products derived from this software without specific prior written permission.
- *
- * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
- * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
- * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-package org.firstinspires.ftc.teamcode.cometbots.tests;
-
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.Gamepad;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
-
-@TeleOp(name = "Wrist Test", group = "Debug")
-public class WristTest extends LinearOpMode {
-
-    // Declare OpMode members for each of the 4 motors.
-    private final ElapsedTime runtime = new ElapsedTime();
-
-    @Override
-    public void runOpMode() {
-
-        /*
-         * Instantiate Wrist
-         */
-        WristActionsSubsystem wrist = new WristActionsSubsystem(hardwareMap);
-
-        /*
-         * Instantiate gamepad state holders
-         */
-        Gamepad currentGamepad1 = new Gamepad();
-        Gamepad previousGamepad1 = new Gamepad();
-
-        wrist.init();
-        waitForStart();
-        runtime.reset();
-
-        // run until the end of the match (driver presses STOP)
-        while (opModeIsActive()) {
-
-            previousGamepad1.copy(currentGamepad1);
-            currentGamepad1.copy(gamepad1);
-
-            if (currentGamepad1.square && !previousGamepad1.square) {
-                Actions.runBlocking(wrist.toBucketPosition());
-            }
-
-            if (currentGamepad1.circle && !previousGamepad1.circle) {
-                Actions.runBlocking(wrist.toFloorPosition());
-            }
-
-            if (currentGamepad1.cross && !previousGamepad1.cross) {
-                wrist.switchState();
-            }
-
-            if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
-                wrist.setPosition(wrist.getPosition() - .05);
-            }
-
-            if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
-                wrist.setPosition(wrist.getPosition() + .05);
-            }
-
-            // Show the elapsed game time and wheel power.
-            telemetry.addData("Status", "Run Time: " + runtime.toString());
-            telemetry.addData("Wrist State", wrist.getState());
-            telemetry.addData("Wrist Position", wrist.getPosition());
-            telemetry.update();
-        }
-    }
-}

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

@@ -1,33 +0,0 @@
-package org.firstinspires.ftc.teamcode.configs;
-
-import com.acmerobotics.dashboard.config.Config;
-
-@Config
-public class RobotConstants {
-    public final static double clawClose = 0.8;
-    public final static double clawOpen = 0.15;
-
-    public final static double armFloor = 0.7;
-    public final static double armSubmarine = 0.55;
-    public final static double armPark = 0.0;
-    public final static double armBucket = 0.2;
-
-    public final static double wristFloor = 0.55;
-    public final static double wristBucket = 0.25;
-    public final static double wristRung = 0.55;
-
-    public final static double wristPickup = 0.1;
-    public final static double wristSpeciemen = 0.1;
-
-
-    public final static int liftToFloorPos = 500;
-    public final static int liftToLowBucketPos = 2650;
-    public final static int liftToHighRung = 2100;
-    public final static int dropToHighRung = 1675;
-
-    public final static int liftToHighRungAttach = 1050;
-
-
-    public final static int liftToHighBucketPos = 4900;
-    public final static double liftPower = 1;
-}

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

@@ -71,9 +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/follower/Follower.java

@@ -929,31 +929,31 @@ public class Follower {
      *                  method will use to output the debug data.
      */
     public void telemetryDebug(MultipleTelemetry telemetry) {
-//        telemetry.addData("follower busy", isBusy());
-//        telemetry.addData("heading error", headingError);
-//        telemetry.addData("heading vector magnitude", headingVector.getMagnitude());
-//        telemetry.addData("corrective vector magnitude", correctiveVector.getMagnitude());
-//        telemetry.addData("corrective vector heading", correctiveVector.getTheta());
-//        telemetry.addData("translational error magnitude", getTranslationalError().getMagnitude());
-//        telemetry.addData("translational error direction", getTranslationalError().getTheta());
-//        telemetry.addData("translational vector magnitude", translationalVector.getMagnitude());
-//        telemetry.addData("translational vector heading", translationalVector.getMagnitude());
-//        telemetry.addData("centripetal vector magnitude", centripetalVector.getMagnitude());
-//        telemetry.addData("centripetal vector heading", centripetalVector.getTheta());
-//        telemetry.addData("drive error", driveError);
-//        telemetry.addData("drive vector magnitude", driveVector.getMagnitude());
-//        telemetry.addData("drive vector heading", driveVector.getTheta());
-//        telemetry.addData("x", getPose().getX());
-//        telemetry.addData("y", getPose().getY());
-//        telemetry.addData("heading", getPose().getHeading());
-//        telemetry.addData("total heading", poseUpdater.getTotalHeading());
-//        telemetry.addData("velocity magnitude", getVelocity().getMagnitude());
-//        telemetry.addData("velocity heading", getVelocity().getTheta());
-//        driveKalmanFilter.debug(telemetry);
-//        telemetry.update();
-//        if (drawOnDashboard) {
-//            Drawing.drawDebug(this);
-//        }
+        telemetry.addData("follower busy", isBusy());
+        telemetry.addData("heading error", headingError);
+        telemetry.addData("heading vector magnitude", headingVector.getMagnitude());
+        telemetry.addData("corrective vector magnitude", correctiveVector.getMagnitude());
+        telemetry.addData("corrective vector heading", correctiveVector.getTheta());
+        telemetry.addData("translational error magnitude", getTranslationalError().getMagnitude());
+        telemetry.addData("translational error direction", getTranslationalError().getTheta());
+        telemetry.addData("translational vector magnitude", translationalVector.getMagnitude());
+        telemetry.addData("translational vector heading", translationalVector.getMagnitude());
+        telemetry.addData("centripetal vector magnitude", centripetalVector.getMagnitude());
+        telemetry.addData("centripetal vector heading", centripetalVector.getTheta());
+        telemetry.addData("drive error", driveError);
+        telemetry.addData("drive vector magnitude", driveVector.getMagnitude());
+        telemetry.addData("drive vector heading", driveVector.getTheta());
+        telemetry.addData("x", getPose().getX());
+        telemetry.addData("y", getPose().getY());
+        telemetry.addData("heading", getPose().getHeading());
+        telemetry.addData("total heading", poseUpdater.getTotalHeading());
+        telemetry.addData("velocity magnitude", getVelocity().getMagnitude());
+        telemetry.addData("velocity heading", getVelocity().getTheta());
+        driveKalmanFilter.debug(telemetry);
+        telemetry.update();
+        if (drawOnDashboard) {
+            Drawing.drawDebug(this);
+        }
     }
 
     /**

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/pathGeneration/PathBuilder.java

@@ -14,7 +14,6 @@ import java.util.ArrayList;
  * @version 1.0, 3/11/2024
  */
 public class PathBuilder {
-    public PathBuilder setTangentHeadingInterpolation;
     private ArrayList<Path> paths = new ArrayList<>();
 
     private ArrayList<PathCallback> callbacks = new ArrayList<>();

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

@@ -60,8 +60,8 @@ public class FollowerConstants {
     public static CustomPIDFCoefficients headingPIDFCoefficients = new CustomPIDFCoefficients(
             2,
             0,
-            .025,
-            0);
+            .075,
+            -.03125);
 
     // 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,
-            3);
+            1);
 
 
     // Mass of robot in kilograms

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

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

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

@@ -1,89 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import static org.firstinspires.ftc.teamcode.PedroConstants.ARM_NAME;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armBucket;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armFloor;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armPark;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armSubmarine;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.ServoImplEx;
-
-public class ArmActionsSubsystem {
-
-    public enum ArmState {
-        PARK, FLOOR, BUCKET, SUBMARINE
-    }
-
-    private ServoImplEx arm;
-    private ArmState state;
-
-    public ArmActionsSubsystem(HardwareMap hardwareMap) {
-        this.arm = hardwareMap.get(ServoImplEx.class, ARM_NAME);
-    }
-
-    public class MoveToPosition implements Action {
-        private double positionValue;
-        private ArmState positionState;
-
-        public MoveToPosition(double positionValue, ArmState positionState) {
-            this.positionValue = positionValue;
-            this.positionState = positionState;
-        }
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-            arm.setPosition(positionValue);
-            setState(positionState);
-            telemetryPacket.put("Arm State", positionState);
-            return false;
-        }
-    }
-
-    public Action toParkPosition() {
-        return new MoveToPosition(armPark, ArmState.PARK);
-    }
-
-    public Action toSubmarinePosition() {
-        return new MoveToPosition(armSubmarine, ArmState.SUBMARINE);
-    }
-
-    public Action toFloorPosition() {
-        return new MoveToPosition(armFloor, ArmState.FLOOR);
-    }
-
-    public Action toBucketPosition() {
-        return new MoveToPosition(armBucket, ArmState.BUCKET);
-    }
-
-    public void setState(ArmState armState) {
-        this.state = armState;
-    }
-
-    public ArmState getState() {
-        return this.state;
-    }
-
-    public void init() {
-        this.arm.resetDeviceConfigurationForOpMode();
-        Actions.runBlocking(this.toParkPosition());
-    }
-
-    public void start() {
-        Actions.runBlocking(this.toParkPosition());
-    }
-
-    public double getPosition() {
-        return this.arm.getPosition();
-    }
-
-    public void setPosition(double position) {
-        this.arm.setPosition(position);
-    }
-
-}

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

@@ -1,36 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-
-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.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 Pose startPose = new Pose(36, 72);
-
-    public void moveToPath1(Follower robot) {
-        PathChain pathChain;
-        robot.setStartingPose(startPose);
-        PathBuilder builder = new PathBuilder();
-        builder
-                .addPath(
-                        new BezierCurve(
-                                new Point(36.000, 72.000, Point.CARTESIAN),
-                                new Point(37.500, 72.000, Point.CARTESIAN)
-                        )
-                );
-        pathChain = builder.build();
-        robot.followPath(pathChain);
-    }
-
-}
-

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

@@ -1,36 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-
-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.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 AutoPark {
-
-
-    public void moveToPark(Follower robot) {
-        PathChain pathChain;
-        PathBuilder builder = new PathBuilder();
-        builder
-                .addPath(
-                        new BezierCurve(
-                                new Point(18.000, 126.000, Point.CARTESIAN),
-                                new Point(85.000, 132.750, Point.CARTESIAN),
-                                new Point(84.000, 97.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(135));
-        pathChain = builder.build();
-        robot.followPath(pathChain);
-    }
-
-}
-

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

@@ -1,82 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import static org.firstinspires.ftc.teamcode.PedroConstants.CLAW_NAME;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawClose;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawOpen;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.Servo;
-
-public class ClawActionsSubsystem {
-
-    public enum ClawState {
-        CLOSED, OPEN
-    }
-
-    private Servo claw;
-    private ClawState state;
-
-    public ClawActionsSubsystem(HardwareMap hardwareMap) {
-        this.claw = hardwareMap.get(Servo.class, CLAW_NAME);
-    }
-
-    public class MoveToPosition implements Action {
-        private double positionValue;
-        private ClawState positionState;
-
-        public MoveToPosition(double positionValue, ClawState positionState) {
-            this.positionValue = positionValue;
-            this.positionState = positionState;
-        }
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-            setState(positionState);
-            claw.setPosition(positionValue);
-            telemetryPacket.put("Claw State", positionState);
-            return false;
-        }
-    }
-
-    public Action openClaw() {
-        return new MoveToPosition(clawOpen, ClawState.OPEN);
-    }
-
-    public Action closeClaw() {
-        return new MoveToPosition(clawClose, ClawState.CLOSED);
-    }
-
-    public void setState(ClawState clawState) {
-        this.state = clawState;
-    }
-
-    public ClawState getState() {
-        return this.state;
-    }
-
-    public void switchState() {
-        if (state == ClawState.CLOSED) {
-            Actions.runBlocking(openClaw());
-        } else if (state == ClawState.OPEN) {
-            Actions.runBlocking(closeClaw());
-        }
-    }
-
-    public void init() {
-        Actions.runBlocking(closeClaw());
-    }
-
-    public void start() {
-        Actions.runBlocking(openClaw());
-    }
-
-    public double getPosition() {
-        return this.claw.getPosition();
-    }
-
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath1.java

@@ -1,38 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-
-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.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 HighBasketAutoPath1 {
-
-    private final Pose startPose = new Pose(8, 89);
-
-    public void moveToPath1(Follower robot) {
-        PathChain pathChain;
-        robot.setStartingPose(startPose);
-        PathBuilder builder = new PathBuilder();
-        builder
-                .addPath(
-                        new BezierCurve(
-                                new Point(8.000, 89.000, Point.CARTESIAN),
-                                new Point(24.000, 96.000, Point.CARTESIAN),
-                                new Point(18.000, 126.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(135));
-        pathChain = builder.build();
-        robot.followPath(pathChain);
-    }
-
-}
-

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath2.java

@@ -1,36 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-
-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 HighBasketAutoPath2 {
-    
-    public void moveToPath2(Follower robot) {
-        PathChain pathChain;
-        PathBuilder builder = new PathBuilder();
-        builder
-                .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(18.000, 126.000, Point.CARTESIAN),
-                                new Point(25.500, 120.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0));
-        pathChain = builder.build();
-        robot.followPath(pathChain);
-    }
-
-}
-

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath3.java

@@ -1,35 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.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 HighBasketAutoPath3 {
-
-    public void moveToBasketPath3(Follower robot) {
-        PathChain pathChain;
-        PathBuilder builder = new PathBuilder();
-        builder
-                .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(29.000, 120.000, Point.CARTESIAN),
-                                new Point(18.000, 126.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(135));
-        pathChain = builder.build();
-        robot.followPath(pathChain);
-    }
-
-}
-

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath4.java

@@ -1,34 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-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 HighBasketAutoPath4 {
-    
-    public void moveToPickupAgainPath4(Follower robot) {
-        PathChain pathChain;
-        PathBuilder builder = new PathBuilder();
-        builder
-                .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(18.000, 126.000, Point.CARTESIAN),
-                                new Point(25.000, 129.900, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0));
-        pathChain = builder.build();
-        robot.followPath(pathChain);
-    }
-
-}
-

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath5.java

@@ -1,34 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-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 HighBasketAutoPath5 {
-    
-    public void moveToPickupAgainPath5(Follower robot) {
-        PathChain pathChain;
-        PathBuilder builder = new PathBuilder();
-        builder
-                .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(24.000, 131.000, Point.CARTESIAN),
-                                new Point(18.000, 126.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(135));
-        pathChain = builder.build();
-        robot.followPath(pathChain);
-    }
-
-}
-

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/HighBasketAutoPath6.java

@@ -1,50 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-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 HighBasketAutoPath6 {
-    
-    public void moveToParkPath6(Follower robot) {
-        PathChain pathChain;
-        PathBuilder builder = new PathBuilder();
-        builder
-                .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(18.000, 126.000, Point.CARTESIAN),
-                                new Point(18.000, 126.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(270))
-                .addPath(
-                        // Line 2
-                        new BezierLine(
-                                new Point(18.000, 126.000, Point.CARTESIAN),
-                                new Point(81.000, 125.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(270), Math.toRadians(270))
-                .addPath(
-                        // Line 3
-                        new BezierLine(
-                                new Point(81.000, 125.000, Point.CARTESIAN),
-                                new Point(81.000, 100.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(270), Math.toRadians(270));
-        pathChain = builder.build();
-        robot.followPath(pathChain);
-    }
-
-}
-

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

@@ -1,126 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import static org.firstinspires.ftc.teamcode.PedroConstants.LIFT_NAME;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.dropToHighRung;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloorPos;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToLowBucketPos;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighRung;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighRungAttach;
-
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-public class LiftActionsSubsystem {
-
-    public DcMotor lift;
-
-    public enum LiftState {
-        FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT, SUBMARINE, HIGH_RUNG, HIGH_RUNG_DROP
-    }
-
-    private LiftState liftState;
-
-    public LiftActionsSubsystem(HardwareMap hardwareMap) {
-        lift = hardwareMap.get(DcMotor.class, LIFT_NAME);
-    }
-
-    public class MoveToPosition implements Action {
-        private int positionValue;
-        private LiftState positionState;
-
-        public MoveToPosition(int positionValue, LiftState positionState) {
-            this.positionValue = positionValue;
-            this.positionState = positionState;
-        }
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-            setState(positionState);
-            lift.setTargetPosition(positionValue);
-            lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            telemetryPacket.put("Lift State", positionState);
-            telemetryPacket.put("Lift Position", lift.getCurrentPosition());
-            boolean result = lift.getTargetPosition() - 15 < lift.getCurrentPosition() &&
-                    lift.getCurrentPosition() < lift.getTargetPosition() + 15;
-            return !result;
-        }
-    }
-
-    public Action toFloorPosition() {
-        return new MoveToPosition(liftToFloorPos, LiftState.FLOOR);
-    }
-
-    public Action toHighRung() {
-        return new MoveToPosition(liftToHighRung, LiftState.HIGH_RUNG);
-    }
-
-    public Action dropToHighRung() {
-        return new MoveToPosition(dropToHighRung, LiftState.HIGH_RUNG_DROP);
-    }
-
-
-    public Action toZeroPosition() {
-        return new MoveToPosition(0, LiftState.FLOOR);
-    }
-
-
-    public Action toHighRungAttach() {
-        return new MoveToPosition(liftToHighRungAttach, LiftState.HIGH_RUNG);
-    }
-
-    public Action toLowBucketPosition() {
-        return new MoveToPosition(liftToLowBucketPos, LiftState.LOW_BUCKET);
-
-    }
-
-    public Action toHighBucketPosition() {
-        return new MoveToPosition(liftToHighBucketPos, LiftState.HIGH_BUCKET);
-    }
-
-    public void switchState() {
-        if (this.liftState == LiftState.FLOOR) {
-            Actions.runBlocking(toLowBucketPosition());
-        } else if (this.liftState == LiftState.LOW_BUCKET) {
-            Actions.runBlocking(toHighBucketPosition());
-        } else if (this.liftState == LiftState.HIGH_BUCKET) {
-            Actions.runBlocking(toFloorPosition());
-        }
-    }
-
-    public void init() {
-        lift.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        lift.setDirection(DcMotorSimple.Direction.REVERSE);
-        lift.setPower(liftPower);
-    }
-
-    private void setState(LiftState liftState) {
-        this.liftState = liftState;
-    }
-
-    public LiftState getState() {
-        return this.liftState;
-    }
-
-    public int getPosition() {
-        return lift.getCurrentPosition();
-    }
-
-    public void setPosition(int position) {
-        lift.setTargetPosition(position);
-        lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-    }
-
-    public void start() {
-        Actions.runBlocking(toFloorPosition());
-    }
-
-}

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

@@ -1,140 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
-
-import 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 = 1.0;
-    }
-
-    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 calculateTrajectory(Gamepad gamepad1) {
-        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 leftBackPower = axial - lateral + yaw;
-
-        double rightFrontPower = axial - lateral - yaw;
-        double rightBackPower = axial + lateral - yaw;
-
-        // Normalize the values so no wheel power exceeds 100%
-        // This ensures that the robot maintains the desired motion.
-        max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
-        max = Math.max(max, Math.abs(leftBackPower));
-        max = Math.max(max, Math.abs(rightBackPower));
-
-        if (max > 1.0) {
-            leftFrontPower /= max;
-            rightFrontPower /= max;
-            leftBackPower /= max;
-            rightBackPower /= max;
-        }
-
-        // Send calculated power to wheels
-        this.setFrontLeftMotorPower(leftFrontPower * this.power);
-        this.setFrontRightMotorPower(rightFrontPower * this.power);
-        this.setBackLeftMotorPower(leftBackPower * this.power);
-        this.setBackRightMotorPower(rightBackPower * this.power);
-
-        // Show the elapsed game time and wheel power.
-        this.telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
-        this.telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
-        this.telemetry.addData("Current State", this.getState());
-    }
-
-    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);
-        }
-    }
-}

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

@@ -1,52 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.SKYHOOK_NAME;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
-
-import com.acmerobotics.roadrunner.Action;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
-
-public class SkyHookSubsystem {
-
-    public DcMotorEx hook;
-
-    public SkyHookSubsystem(HardwareMap hardwareMap) {
-        hook = hardwareMap.get(DcMotorEx.class, SKYHOOK_NAME);
-
-    }
-
-    public void moveSkyHook(int position){
-        hook.setTargetPosition(position);
-        hook.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-    }
-
-    public void moveSkyHook(double power) {
-        hook.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
-        hook.setPower(power);
-    }
-
-    public void init() {
-        hook.setPower(0);
-        hook.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-        hook.setTargetPosition(0);
-    }
-
-    public void toParkPosition() {
-        moveSkyHook(0);
-    }
-
-    public void toLevel1Position() {
-        moveSkyHook(1500);
-    }
-
-    public int getHookPosition() {
-        return hook.getCurrentPosition();
-    }
-
-}

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

@@ -1,104 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import static org.firstinspires.ftc.teamcode.PedroConstants.WRIST_NAME;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristBucket;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristFloor;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristPickup;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristRung;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristSpeciemen;
-
-
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.ftc.Actions;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.ServoImplEx;
-
-public class WristActionsSubsystem {
-
-    public enum WristState {
-        FLOOR, BUCKET, PICKUP, RUNG, SPECIMEN
-    }
-
-    public ServoImplEx wrist;
-    public WristState state;
-
-    public WristActionsSubsystem(HardwareMap hardwareMap) {
-        this.wrist = hardwareMap.get(ServoImplEx.class, WRIST_NAME);
-    }
-
-    public class MoveToPosition implements Action {
-        private double positionValue;
-        private WristState positionState;
-
-        public MoveToPosition(double positionValue, WristState positionState) {
-            this.positionValue = positionValue;
-            this.positionState = positionState;
-        }
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-            setState(positionState);
-            wrist.setPosition(positionValue);
-            telemetryPacket.put("Wrist State", positionState);
-            return false;
-        }
-    }
-
-    public Action   toFloorPosition() {
-        return new MoveToPosition(wristFloor, WristState.FLOOR);
-    }
-    public Action toSpeciemenBar() {
-        return new MoveToPosition(wristSpeciemen, WristState.SPECIMEN);
-    }
-
-    public Action toRungPosition() {
-        return new MoveToPosition(wristFloor, WristState.FLOOR);
-    }
-
-    public Action toBucketPosition() {
-        return new MoveToPosition(wristBucket, WristState.BUCKET);
-    }
-
-    public Action toPickupPosition() {
-        return new MoveToPosition(wristPickup, WristState.PICKUP);
-    }
-
-
-    public void setState(WristState wristState) {
-        this.state = wristState;
-    }
-
-    public void switchState() {
-        if (state == WristState.FLOOR) {
-            Actions.runBlocking(this.toBucketPosition());
-        } else if (state == WristState.BUCKET) {
-            Actions.runBlocking(this.toFloorPosition());
-        }
-    }
-
-    public WristState getState() {
-        return this.state;
-    }
-
-    public void init() {
-        wrist.resetDeviceConfigurationForOpMode();
-        Actions.runBlocking(this.toFloorPosition());
-    }
-
-    public void start() {
-        Actions.runBlocking(this.toFloorPosition());
-    }
-
-    public void setPosition(double position) {
-        wrist.setPosition(position);
-    }
-
-    public double getPosition() {
-        return wrist.getPosition();
-    }
-
-}

build.dependencies.gradle

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