Fine tuning to autonomous prior to switching to new robot

overtime

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

@@ -1,93 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-/**
- * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
- * a circle, but some Bezier curves that have control points set essentially in a square. However,
- * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
- * heading is to be expected.
- *
- * @author Anyi Lin - 10158 Scott's Bots
- * @author Aaron Yang - 10158 Scott's Bots
- * @author Harrison Womack - 10158 Scott's Bots
- * @version 1.0, 3/12/2024
- */
-@Config
-@Autonomous(name = "AsherOrientBlue", group = "Autonomous Pathing Tuning")
-public class AsherOrientBlue extends OpMode {
-    private Telemetry telemetryA;
-
-    private Follower follower;
-
-    private PathChain path;
-
-    private final Pose startPose = new Pose(9.757, 84.983, 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()
-                /*
-                * Only update this path
-                 */
-                .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(20.500, 7.800, Point.CARTESIAN),
-                                new Point(20.500, 87.500, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 2
-                        new BezierLine(
-                                new Point(20.500, 87.500, Point.CARTESIAN),
-                                new Point(7.800, 87.500, Point.CARTESIAN)
-                        )
-                )
-
-                .setConstantHeadingInterpolation(Math.toRadians(90)).build();
-                /*
-                * End of only update this path
-                 */
-
-        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/AsherPathBlueV1.java

@@ -1,133 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-/**
- * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
- * a circle, but some Bezier curves that have control points set essentially in a square. However,
- * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
- * heading is to be expected.
- *
- * @author Anyi Lin - 10158 Scott's Bots
- * @author Aaron Yang - 10158 Scott's Bots
- * @author Harrison Womack - 10158 Scott's Bots
- * @version 1.0, 3/12/2024
- */
-@Config
-@Autonomous(name = "AsherPathBlueV1", group = "Autonomous Pathing Tuning")
-public class AsherPathBlueV1 extends OpMode {
-    private Telemetry telemetryA;
-
-    private Follower follower;
-
-    private PathChain path;
-
-    private final Pose startPose = new Pose(9.757, 84.983, 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()
-                /*
-                * Only update this path
-                 */
-                .addPath(
-                        // Line 1
-                        new BezierCurve(
-                                new Point(7.800, 87.5, Point.CARTESIAN),
-                                new Point(19.000, 116.000, Point.CARTESIAN),
-                                new Point(93.000, 118.000, Point.CARTESIAN),
-                                new Point(45.000, 115.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 2
-                        new BezierLine(
-                                new Point(45.000, 115.000, Point.CARTESIAN),
-                                new Point(14.000, 126.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 3
-                        new BezierCurve(
-                                new Point(14.000, 126.000, Point.CARTESIAN),
-                                new Point(43.000, 112.500, Point.CARTESIAN),
-                                new Point(64.000, 92.000, Point.CARTESIAN),
-                                new Point(77.000, 117.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 4
-                        new BezierLine(
-                                new Point(77.000, 117.000, Point.CARTESIAN),
-                                new Point(20.000, 135.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 5
-                        new BezierCurve(
-                                new Point(20.000, 135.000, Point.CARTESIAN),
-                                new Point(113.000, 95.000, Point.CARTESIAN),
-                                new Point(69.000, 135.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 6
-                        new BezierLine(
-                                new Point(69.000, 135.000, Point.CARTESIAN),
-                                new Point(20.500, 135.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 7
-                        new BezierCurve(
-                                new Point(20.500, 135.000, Point.CARTESIAN),
-                                new Point(101.500, 95.500, Point.CARTESIAN),
-                                new Point(72.500, 95.500, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90)).build();
-                /*
-                * End of only update this path
-                 */
-
-        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/BlueBasketAuto.java

@@ -0,0 +1,115 @@
+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

@@ -0,0 +1,56 @@
+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

@@ -0,0 +1,57 @@
+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

@@ -1,11 +1,9 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode;
 
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 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;
@@ -15,147 +13,149 @@ 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 = "BlueBasketAuto", group = "Autonomous Pathing Tuning")
-public class BlueBasketAuto extends OpMode {
+@Autonomous(name = "Blue Non Basket Auto", group = "Competition")
+public class BlueNonBasketAuto extends OpMode {
     private Telemetry telemetryA;
 
     private Follower follower;
 
     private PathChain path;
 
-    private final Pose startPose = new Pose(11.25, 95.75);
+    private PathChain path2;
+
+    private final Pose startPose = new Pose(8.000, 55.000);
 
-    /**
-     * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
-     * initializes the FTC Dashboard telemetry.
-     */
     @Override
     public void init() {
         follower = new Follower(hardwareMap);
 
-        follower.setMaxPower(.45);
+        follower.setMaxPower(.6);
 
         follower.setStartingPose(startPose);
 
         path = follower.pathBuilder()
                 .addPath(
                         // Line 1
-                        new BezierLine(
-                                new Point(11.250, 95.750, Point.CARTESIAN),
-                                new Point(37.000, 108.000, Point.CARTESIAN)
+                        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))
+                .setConstantHeadingInterpolation(Math.toRadians(0)).build();
+        follower.followPath(path);
+        
+        path2 = follower.pathBuilder()
                 .addPath(
                         // Line 2
-                        new BezierCurve(
-                                new Point(37.000, 108.000, Point.CARTESIAN),
-                                new Point(73.286, 111.536, Point.CARTESIAN),
-                                new Point(67.821, 120.536, Point.CARTESIAN)
+                        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(67.821, 120.536, Point.CARTESIAN),
-                                new Point(28.000, 121.500, Point.CARTESIAN)
+                                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(28.000, 121.500, Point.CARTESIAN),
-                                new Point(18.000, 130.179, Point.CARTESIAN)
+                                new Point(10.000, 27.000, Point.CARTESIAN),
+                                new Point(61.875, 27.000, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 5
-                        new BezierCurve(
-                                new Point(18.000, 130.179, Point.CARTESIAN),
-                                new Point(59.000, 102.500, Point.CARTESIAN),
-                                new Point(68.700, 130.500, Point.CARTESIAN)
+                        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(68.700, 130.500, Point.CARTESIAN),
-                                new Point(18.000, 130.339, Point.CARTESIAN)
+                                new Point(61.714, 17.357, Point.CARTESIAN),
+                                new Point(14.464, 17.357, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 7
-                        new BezierCurve(
-                                new Point(18.000, 130.339, Point.CARTESIAN),
-                                new Point(49.018, 121.179, Point.CARTESIAN),
-                                new Point(63.804, 135.321, Point.CARTESIAN)
+                        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(63.804, 135.321, Point.CARTESIAN),
-                                new Point(53.036, 135.161, Point.CARTESIAN)
+                                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(53.036, 135.161, Point.CARTESIAN),
-                                new Point(18.643, 135.000, Point.CARTESIAN)
+                                new Point(61.554, 8.000, Point.CARTESIAN),
+                                new Point(12.536, 8.196, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 10
-                        new BezierLine(
-                                new Point(18.643, 135.000, Point.CARTESIAN),
-                                new Point(72.300, 97.400, Point.CARTESIAN)
+                        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 9
-                        new BezierLine(
-                                new Point(18.643, 135.000, Point.CARTESIAN),
-                                new Point(83.250, 95.464, Point.CARTESIAN)
+                        // 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(path);
+
+        follower.followPath(path2);
 
         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/CONTROLS.md

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

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

@@ -0,0 +1,290 @@
+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/CometBotAuto.java

@@ -1,35 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-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.runmodes.Auto;
-
-
-@Autonomous(name = "CometBot Auto", group = "Debug")
-public class CometBotAuto extends OpMode {
-    public Auto auto;
-
-    @Override
-    public void init() {
-        auto = new Auto(hardwareMap, telemetry, new Follower(hardwareMap));
-    }
-
-    @Override
-    public void start() {
-        auto.start();
-    }
-
-    @Override
-    public void loop() {
-        auto.update();
-        telemetry.addData("Arm State", auto.arm.getState());
-        telemetry.addData("Arm Position", auto.arm.getPosition());
-        telemetry.addData("Claw State", auto.claw.getState());
-        telemetry.addData("Wrist State", auto.wrist.getState());
-        telemetry.addData("Wrist Position", auto.wrist.getPosition());
-        telemetry.update();
-    }
-
-}

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

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

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

@@ -1,31 +1,24 @@
 package org.firstinspires.ftc.teamcode;
 
-import static org.firstinspires.ftc.teamcode.util.action.FieldConstants.blueBucketStartPose;
-
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.runmodes.Teleop;
+import org.firstinspires.ftc.teamcode.cometbots.CometBotTeleopCompetition;
 
-@TeleOp(name="ComeBot Drive", group="Debug")
-@Disabled
+@TeleOp(name = "ComeBot Drive", group = "Competition")
 public class CometBotDrive extends OpMode {
 
-    private Teleop teleop;
+    public CometBotTeleopCompetition runMode;
 
     @Override
     public void init() {
-        teleop = new Teleop(hardwareMap,
-                telemetry,
-                new Follower(hardwareMap),
-                gamepad1);
-        teleop.start();
+        this.runMode = new CometBotTeleopCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
+        this.runMode.init();
     }
 
     @Override
     public void loop() {
-        teleop.update();
+        this.runMode.update();
+        telemetry.update();
     }
-}
+}

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

@@ -1,97 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.Gamepad;
-
-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;
-
-@TeleOp(name = "Dev Teleop Remix", group = "Debug")
-@Disabled
-public class DevTeleOpRemix extends OpMode {
-
-    public ClawSubsystem claw;
-    public ArmSubsystem arm;
-    public WristSubsystem wrist;
-    public LiftSubsystem lift;
-    public MotorsSubsystem motors;
-
-    public Gamepad currentGamepad1;
-    public Gamepad previousGamepad1;
-    public Gamepad currentGamepad2;
-    public Gamepad previousGamepad2;
-
-    public double power = .6;
-
-    @Override
-    public void init() {
-
-        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
-        arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
-        wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
-        lift = new LiftSubsystem(hardwareMap);
-        motors = new MotorsSubsystem(hardwareMap, telemetry, power);
-
-        claw.init();
-        arm.init();
-        wrist.init();
-        lift.init();
-        motors.init();
-
-        currentGamepad1 = new Gamepad();
-        previousGamepad1 = new Gamepad();
-        currentGamepad2 = new Gamepad();
-        previousGamepad2 = new Gamepad();
-    }
-
-    public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
-        if (currentGamepad1.a && !previousGamepad1.a) {
-            wrist.floorWrist();
-            arm.engageArm();
-        }
-    }
-
-    public void thePickup(ClawSubsystem claw) {
-        if (currentGamepad1.x && !previousGamepad1.x) {
-            claw.switchState();
-        }
-    }
-
-    public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
-        if (currentGamepad1.b && !previousGamepad1.b) {
-            arm.parkArm();
-            wrist.bucketWrist();
-        }
-    }
-
-    public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
-        if (currentGamepad1.y && !previousGamepad1.y) {
-            lift.toLowBucket();
-            wrist.bucketWrist();
-        }
-    }
-
-    @Override
-    public void loop() {
-
-        previousGamepad1.copy(currentGamepad1);
-        currentGamepad1.copy(gamepad1);
-
-        previousGamepad2.copy(currentGamepad2);
-        currentGamepad2.copy(gamepad2);
-
-        theDrop(arm, wrist);
-        thePickup(claw);
-        theLift(arm, wrist);
-        theLowBucketScore(lift, wrist, arm);
-
-        motors.calculateTrajectory(gamepad1);
-
-    }
-
-}

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

@@ -1,107 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.Gamepad;
-
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-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;
-
-@TeleOp(name = "Dev Teleop Remix Deux", group = "Debug")
-@Disabled
-public class DevTeleOpRemixDeux extends OpMode {
-
-    private Follower follower;
-
-    public ClawSubsystem claw;
-    public ArmSubsystem arm;
-    public WristSubsystem wrist;
-    public LiftSubsystem lift;
-    public MotorsSubsystem motors;
-
-    public Gamepad currentGamepad1;
-    public Gamepad previousGamepad1;
-    public Gamepad currentGamepad2;
-    public Gamepad previousGamepad2;
-
-    public double power = .6;
-
-    @Override
-    public void init() {
-
-        follower = new Follower(hardwareMap);
-
-        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
-        arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
-        wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
-        motors = new MotorsSubsystem(hardwareMap, telemetry);
-        lift = new LiftSubsystem(hardwareMap);
-
-        claw.init();
-        arm.init();
-        wrist.init();
-        lift.init();
-        motors.init();
-
-        currentGamepad1 = new Gamepad();
-        previousGamepad1 = new Gamepad();
-        currentGamepad2 = new Gamepad();
-        previousGamepad2 = new Gamepad();
-
-        follower.setMaxPower(this.power);
-        follower.startTeleopDrive();
-
-    }
-
-    public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
-        if (currentGamepad1.a && !previousGamepad1.a) {
-            wrist.floorWrist();
-            arm.engageArm();
-        }
-    }
-
-    public void thePickup(ClawSubsystem claw) {
-        if (currentGamepad1.x && !previousGamepad1.x) {
-            claw.switchState();
-        }
-    }
-
-    public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
-        if (currentGamepad1.b && !previousGamepad1.b) {
-            arm.parkArm();
-            wrist.bucketWrist();
-        }
-    }
-
-    public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
-        if (currentGamepad1.y && !previousGamepad1.y) {
-            lift.toLowBucket();
-            wrist.bucketWrist();
-        }
-    }
-
-    @Override
-    public void loop() {
-
-        previousGamepad1.copy(currentGamepad1);
-        currentGamepad1.copy(gamepad1);
-
-        previousGamepad2.copy(currentGamepad2);
-        currentGamepad2.copy(gamepad2);
-
-        theDrop(arm, wrist);
-        thePickup(claw);
-        theLift(arm, wrist);
-        theLowBucketScore(lift, wrist, arm);
-
-        follower.setTeleOpMovementVectors(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x);
-        follower.update();
-
-    }
-
-}

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

@@ -1,180 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER_DIRECTION;
-
-import android.graphics.Point;
-
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.Gamepad;
-
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
-import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.LiftSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
-
-@TeleOp(name = "Dev Teleop", group = "Debug")
-public class DevTeleop extends OpMode {
-
-    public ClawSubsystem claw;
-    public ArmSubsystem arm;
-    public WristSubsystem wrist;
-    public LiftSubsystem lift;
-    public Gamepad currentGamepad1;
-    public Gamepad previousGamepad1;
-    public Gamepad currentGamepad2;
-    public Gamepad previousGamepad2;
-    public DcMotor frontLeftMotor;
-    public DcMotor backLeftMotor;
-    public DcMotor frontRightMotor;
-    public DcMotor backRightMotor;
-
-    private double MAX_POWER = .6;
-    @Override
-    public void init() {
-        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
-        arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
-        wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
-        lift = new LiftSubsystem(hardwareMap);
-        claw.init();
-        arm.init();
-        wrist.init();
-        lift.init();
-
-        frontLeftMotor  = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
-        backLeftMotor  = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
-        frontRightMotor = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
-        backRightMotor = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
-
-        frontLeftMotor.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
-        backLeftMotor.setDirection(BACK_LEFT_MOTOR_DIRECTION);
-        frontRightMotor.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
-        backRightMotor.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
-
-        currentGamepad1 = new Gamepad();
-        previousGamepad1 = new Gamepad();
-        currentGamepad2 = new Gamepad();
-        previousGamepad2 = new Gamepad();
-    }
-
-    public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
-
-        if (currentGamepad1.a && !previousGamepad1.a) {
-            wrist.floorWrist();
-            arm.engageArm();
-        }
-
-    }
-    public void thePickup(ClawSubsystem claw) {
-
-        if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
-            claw.switchState();
-        }
-
-    }
-
-    public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
-
-        if (currentGamepad1.b && !previousGamepad1.b) {
-            arm.parkArm();
-            wrist.bucketWrist();
-        }
-
-    }
-
-    public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
-        if (currentGamepad2.y && !previousGamepad2.y) {
-            lift.toLowBucket();
-            arm.bucketArm();
-            wrist.bucketWrist();
-        }
-    }
-    public void theHighBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
-
-        if (currentGamepad2.a && !previousGamepad2.a) {
-            lift.toHighBucket();
-            arm.bucketArm();
-            wrist.bucketWrist();
-        }
-    }
-
-    public void theTravel(LiftSubsystem lift, ArmSubsystem arm, WristSubsystem wrist){
-        if (currentGamepad2.dpad_down && !previousGamepad2.dpad_down){
-            lift.toFloor();
-            arm.bucketArm();
-            wrist.floorWrist();
-        }
-    }
-    @Override
-    public void loop() {
-        previousGamepad1.copy(currentGamepad1);
-        currentGamepad1.copy(gamepad1);
-        previousGamepad2.copy(currentGamepad2);
-        currentGamepad2.copy(gamepad2);
-
-
-        theDrop(arm, wrist);
-        thePickup(claw);
-        theLift(arm, wrist);
-        theLowBucketScore(lift, wrist, arm);
-        theHighBucketScore(lift, wrist, arm);
-        theTravel(lift, arm, wrist);
-
-        double max;
-
-        // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
-        double axial   = -gamepad1.left_stick_y;  // Note: pushing stick forward gives negative value
-        double lateral =  gamepad1.left_stick_x;
-        double yaw     =  gamepad1.right_stick_x;
-
-        // Combine the joystick requests for each axis-motion to determine each wheel's power.
-        // Set up a variable for each drive wheel to save the power level for telemetry.
-        double leftFrontPower  = axial + lateral + yaw;
-        double rightFrontPower = axial - lateral - yaw;
-        double leftBackPower   = axial - lateral + yaw;
-        double rightBackPower  = axial + lateral - yaw;
-
-        // Normalize the values so no wheel power exceeds 100%
-        // This ensures that the robot maintains the desired motion.
-        max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
-        max = Math.max(max, Math.abs(leftBackPower));
-        max = Math.max(max, Math.abs(rightBackPower));
-
-        if (max > 1.0) {
-            leftFrontPower  /= max;
-            rightFrontPower /= max;
-            leftBackPower   /= max;
-            rightBackPower  /= max;
-        }
-
-
-        // Send calculated power to wheels
-        frontLeftMotor.setPower(leftFrontPower * MAX_POWER);
-        frontRightMotor.setPower(rightFrontPower * MAX_POWER);
-        backLeftMotor.setPower(leftBackPower * MAX_POWER);
-        backRightMotor.setPower(rightBackPower * MAX_POWER);
-
-        // Show the elapsed game time and wheel power.
-        telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
-        telemetry.addData("Back  left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
-        telemetry.addData("Current Lift Position", lift.getPosition());
-        telemetry.update();
-
-    }
-}

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

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

@@ -8,43 +8,79 @@ import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
 public class PedroConstants {
 
     /*
-        Robot parameters
+        Motor configuration names
     */
-    // Turn localizer - -0.003
+    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";
 
-
-    // Robot motor configurations
-    public static final String BRAIN_ROT = "Sikidi rizz 360 no teleop tf2 mama mia 2cool 4skool yasyasy yasyasyasyasyasyasyaysy ohio yes heh me is moar skeebeedee than u walked and got tripped on by your aunt my very educaded mother just served us nine what? just kydinfoiwfowefwofwioefoiejfeoiwjfomdsklfnslefknesfklnkfenfenkfeknfenkfeknfenkefnk";
-    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
+    /*
+        Motor directions
+     */
     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;
 
-    // Robot IMU configuration
-    public static final String IMU = "imu";
+    /*
+        Centricity : true is robot-centric movement; false if field-centric movement
+     */
+    public static final boolean CENTRICITY = true;
 
-    // Robot IMU placement
+    /*
+        Motor Max Power
+     */
+    public static final double MAX_POWER = .8;
+
+    /*
+        IMU
+     */
+    public static final String IMU = "imu";
     public static final RevHubOrientationOnRobot.LogoFacingDirection IMU_LOGO_FACING_DIRECTION
             = RevHubOrientationOnRobot.LogoFacingDirection.DOWN;
     public static final RevHubOrientationOnRobot.UsbFacingDirection IMU_USB_FACING_DIRECTION
             = RevHubOrientationOnRobot.UsbFacingDirection.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 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 encoder direction
+    /*
+        Dead wheel directions
+     */
     public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;
     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
     */

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

@@ -1,7 +1,6 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+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;
@@ -9,41 +8,27 @@ 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 = "AutoExampleSeason2025V1", group = "Autonomous Pathing Tuning")
-public class AutoExampleSeason2025V1 extends OpMode {
+
+@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(15.0, 35, 90);
+    private final Pose startPose = new Pose(7.875, 89.357);
 
-    /**
-     * 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(.375);
+        follower.setMaxPower(.45);
 
         follower.setStartingPose(startPose);
 
@@ -51,92 +36,89 @@ public class AutoExampleSeason2025V1 extends OpMode {
                 .addPath(
                         // Line 1
                         new BezierLine(
-                                new Point(15.000, 35.000, Point.CARTESIAN),
-                                new Point(60.000, 35.000, Point.CARTESIAN)
+                                new Point(8, 89, Point.CARTESIAN),
+                                new Point(10.125, 126.804, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 2
-                        new BezierLine(
-                                new Point(60.000, 35.000, Point.CARTESIAN),
-                                new Point(60.000, 25.000, Point.CARTESIAN)
+                        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(90))
+                .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 3
-                        new BezierLine(
-                                new Point(60.000, 25.000, Point.CARTESIAN),
-                                new Point(15.000, 25.000, Point.CARTESIAN)
+                        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(90))
+                .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 4
-                        new BezierLine(
-                                new Point(15.000, 25.000, Point.CARTESIAN),
-                                new Point(60.000, 25.000, Point.CARTESIAN)
+                        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(90))
+                .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 5
                         new BezierLine(
-                                new Point(60.000, 25.000, Point.CARTESIAN),
-                                new Point(60.000, 15.000, Point.CARTESIAN)
+                                new Point(59.625, 126.964, Point.CARTESIAN),
+                                new Point(15.107, 130.339, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 6
                         new BezierLine(
-                                new Point(60.000, 15.000, Point.CARTESIAN),
-                                new Point(15.000, 15.000, Point.CARTESIAN)
+                                new Point(15.107, 130.339, Point.CARTESIAN),
+                                new Point(59.625, 126.964, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 7
                         new BezierLine(
-                                new Point(15.000, 15.000, Point.CARTESIAN),
-                                new Point(60.000, 15.000, Point.CARTESIAN)
+                                new Point(59.625, 126.964, Point.CARTESIAN),
+                                new Point(57.857, 131.071, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 8
                         new BezierLine(
-                                new Point(60.000, 15.000, Point.CARTESIAN),
-                                new Point(60.000, 8.000, Point.CARTESIAN)
+                                new Point(57.857, 131.071, Point.CARTESIAN),
+                                new Point(18.964, 131.679, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 9
-                        new BezierLine(
-                                new Point(60.000, 8.000, Point.CARTESIAN),
-                                new Point(15.000, 8.000, Point.CARTESIAN)
+                        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)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(90)).build();
-
+                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270)).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/cometbots/AsherPathV1.java

@@ -1,135 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-/**
- * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
- * a circle, but some Bezier curves that have control points set essentially in a square. However,
- * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
- * heading is to be expected.
- *
- * @author Anyi Lin - 10158 Scott's Bots
- * @author Aaron Yang - 10158 Scott's Bots
- * @author Harrison Womack - 10158 Scott's Bots
- * @version 1.0, 3/12/2024
- */
-@Config
-@Autonomous(name = "AsherPathV1", group = "Autonomous Pathing Tuning")
-public class AsherPathV1 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()
-                /*
-                * Only update this path
-                 */
-                .addPath(
-                        // Line 1
-                        new BezierCurve(
-                                new Point(9.757, 84.983, Point.CARTESIAN),
-                                new Point(33.000, 105.000, Point.CARTESIAN),
-                                new Point(80.000, 118.000, Point.CARTESIAN),
-                                new Point(55.000, 120.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 2
-                        new BezierCurve(
-                                new Point(55.000, 120.000, Point.CARTESIAN),
-                                new Point(22.000, 106.000, Point.CARTESIAN),
-                                new Point(11.000, 131.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 3
-                        new BezierCurve(
-                                new Point(11.000, 131.000, Point.CARTESIAN),
-                                new Point(75.000, 95.000, Point.CARTESIAN),
-                                new Point(112.000, 132.000, Point.CARTESIAN),
-                                new Point(61.000, 131.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 4
-                        new BezierLine(
-                                new Point(61.000, 131.000, Point.CARTESIAN),
-                                new Point(11.000, 131.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 5
-                        new BezierCurve(
-                                new Point(11.000, 131.000, Point.CARTESIAN),
-                                new Point(100.000, 118.000, Point.CARTESIAN),
-                                new Point(103.000, 135.000, Point.CARTESIAN),
-                                new Point(61.000, 135.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 6
-                        new BezierLine(
-                                new Point(61.000, 135.000, Point.CARTESIAN),
-                                new Point(11.000, 131.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 7
-                        new BezierCurve(
-                                new Point(11.000, 131.000, Point.CARTESIAN),
-                                new Point(113.000, 95.000, Point.CARTESIAN),
-                                new Point(67.000, 95.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90)).build();
-                /*
-                * End of only update this path
-                 */
-
-        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/cometbots/AutoExample.java

@@ -1,79 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.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 - Straight Path", group = "Autonomous Pathing Tuning")
-public class AutoExample extends OpMode {
-    private Telemetry telemetryA;
-
-    private Follower follower;
-
-    private PathChain path;
-
-    private final Pose startPose = new Pose(0.0, 20.0, 0);
-
-    /**
-     * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
-     * initializes the FTC Dashboard telemetry.
-     */
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-
-        follower.setMaxPower(.6);
-
-        follower.setStartingPose(startPose);
-
-        path = follower.pathBuilder()
-                .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(0.000, 20.000, Point.CARTESIAN),
-                                new Point(50.000, 20.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .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/cometbots/AutoExampleFour.java

@@ -1,106 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-/**
- * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
- * a circle, but some Bezier curves that have control points set essentially in a square. However,
- * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
- * heading is to be expected.
- *
- * @author Anyi Lin - 10158 Scott's Bots
- * @author Aaron Yang - 10158 Scott's Bots
- * @author Harrison Womack - 10158 Scott's Bots
- * @version 1.0, 3/12/2024
- */
-@Config
-@Autonomous(name = "AutoExample - 2 Curves/2 Lines", group = "Autonomous Pathing Tuning")
-public class AutoExampleFour extends OpMode {
-    private Telemetry telemetryA;
-
-    private Follower follower;
-
-    private PathChain path;
-
-    private final Pose startPose = new Pose(12,60, 0);
-
-    /**
-     * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
-     * initializes the FTC Dashboard telemetry.
-     */
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-
-        follower.setMaxPower(.45);
-
-        follower.setStartingPose(startPose);
-
-        path = follower.pathBuilder()
-                .addPath(
-                        // Line 1
-                        new BezierCurve(
-                                new Point(12.000, 60.000, Point.CARTESIAN),
-                                new Point(60.000, 60.000, Point.CARTESIAN),
-                                new Point(60.000, 12.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-90))
-                .addPath(
-                        // Line 2
-                        new BezierLine(
-                                new Point(60.000, 12.000, Point.CARTESIAN),
-                                new Point(40.000, 12.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(-90))
-                .addPath(
-                        // Line 3
-                        new BezierCurve(
-                                new Point(40.000, 12.000, Point.CARTESIAN),
-                                new Point(35.000, 35.000, Point.CARTESIAN),
-                                new Point(12.000, 35.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(-90))
-                .addPath(
-                        // Line 4
-                        new BezierLine(
-                                new Point(12.000, 35.000, Point.CARTESIAN),
-                                new Point(12.000, 60.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(-90), Math.toRadians(0))
-                .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/cometbots/AutoExampleThree.java

@@ -1,89 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-/**
- * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
- * a circle, but some Bezier curves that have control points set essentially in a square. However,
- * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
- * heading is to be expected.
- *
- * @author Anyi Lin - 10158 Scott's Bots
- * @author Aaron Yang - 10158 Scott's Bots
- * @author Harrison Womack - 10158 Scott's Bots
- * @version 1.0, 3/12/2024
- */
-@Config
-@Autonomous(name = "AutoExample - Curve and Line", group = "Autonomous Pathing Tuning")
-public class AutoExampleThree extends OpMode {
-    private Telemetry telemetryA;
-
-    private Follower follower;
-
-    private PathChain path;
-
-    private final Pose startPose = new Pose(10,45, 0);
-
-    /**
-     * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
-     * initializes the FTC Dashboard telemetry.
-     */
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-
-        follower.setMaxPower(.4);
-
-        follower.setStartingPose(startPose);
-
-        path = follower.pathBuilder()
-                .addPath(
-                        // Line 1
-                        new BezierCurve(
-                                new Point(10.000, 45.000, Point.CARTESIAN),
-                                new Point(45.000, 45.000, Point.CARTESIAN),
-                                new Point(50.000, 20.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-90))
-                .addPath(
-                        // Line 2
-                        new BezierLine(
-                                new Point(50.000, 20.000, Point.CARTESIAN),
-                                new Point(10.000, 20.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(-90), 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/cometbots/AutoExampleTwo.java

@@ -1,80 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.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 - Simple Curve", 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, 45, 0);
-
-    /**
-     * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
-     * initializes the FTC Dashboard telemetry.
-     */
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-
-        follower.setMaxPower(.4);
-
-        follower.setStartingPose(startPose);
-
-        path = follower.pathBuilder()
-                .addPath(
-                        // Line 1
-                        new BezierCurve(
-                                new Point(10.000, 45.000, Point.CARTESIAN),
-                                new Point(45.000, 45.000, Point.CARTESIAN),
-                                new Point(50.000, 20.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(0), 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/cometbots/BasicOmniOpMode_Linear.java

@@ -1,197 +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;
-
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER_DIRECTION;
-
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
-
-/*
- * This file contains an example of a Linear "OpMode".
- * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
- * The names of OpModes appear on the menu of the FTC Driver Station.
- * When a selection is made from the menu, the corresponding OpMode is executed.
- *
- * This particular OpMode illustrates driving a 4-motor Omni-Directional (or Holonomic) robot.
- * This code will work with either a Mecanum-Drive or an X-Drive train.
- * Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html
- * Note that a Mecanum drive must display an X roller-pattern when viewed from above.
- *
- * Also note that it is critical to set the correct rotation direction for each motor.  See details below.
- *
- * Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously.
- * Each motion axis is controlled by one Joystick axis.
- *
- * 1) Axial:    Driving forward and backward               Left-joystick Forward/Backward
- * 2) Lateral:  Strafing right and left                     Left-joystick Right and Left
- * 3) Yaw:      Rotating Clockwise and counter clockwise    Right-joystick Right and Left
- *
- * This code is written assuming that the right-side motors need to be reversed for the robot to drive forward.
- * When you first test your robot, if it moves backward when you push the left stick forward, then you must flip
- * the direction of all 4 motors (see code below).
- *
- * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
- * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
- */
-
-@TeleOp(name="Basic: Omni Linear OpMode", group="Linear OpMode")
-public class BasicOmniOpMode_Linear extends LinearOpMode {
-
-    // Declare OpMode members for each of the 4 motors.
-    private final ElapsedTime runtime = new ElapsedTime();
-
-    @Override
-    public void runOpMode() {
-
-        // Initialize the hardware variables. Note that the strings used here must correspond
-        // to the names assigned during the robot configuration step on the DS or RC devices.
-        DcMotor leftFrontDrive = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
-        DcMotor leftBackDrive = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
-        DcMotor rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
-        DcMotor rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
-
-
-
-        // TODO: replace these with your encoder ports
-        Encoder leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
-        Encoder rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
-        Encoder strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
-
-        // TODO: reverse any encoders necessary
-        leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
-        rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
-        strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
-
-        // ########################################################################################
-        // !!!            IMPORTANT Drive Information. Test your motor directions.            !!!!!
-        // ########################################################################################
-        // Most robots need the motors on one side to be reversed to drive forward.
-        // The motor reversals shown here are for a "direct drive" robot (the wheels turn the same direction as the motor shaft)
-        // If your robot has additional gear reductions or uses a right-angled drive, it's important to ensure
-        // that your motors are turning in the correct direction.  So, start out with the reversals here, BUT
-        // when you first test your robot, push the left joystick forward and observe the direction the wheels turn.
-        // Reverse the direction (flip FORWARD <-> REVERSE ) of any wheel that runs backward
-        // Keep testing until ALL the wheels move the robot forward when you push the left joystick forward.
-        leftFrontDrive.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
-        leftBackDrive.setDirection(BACK_LEFT_MOTOR_DIRECTION);
-        rightFrontDrive.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
-        rightBackDrive.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
-
-        // Wait for the game to start (driver presses START)
-        telemetry.addData("Status", "Initialized");
-        telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
-        telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
-        telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
-        telemetry.update();
-
-        waitForStart();
-        runtime.reset();
-
-        // run until the end of the match (driver presses STOP)
-        while (opModeIsActive()) {
-            double max;
-
-            // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
-            double axial   = -gamepad1.left_stick_y;  // Note: pushing stick forward gives negative value
-            double lateral =  gamepad1.left_stick_x;
-            double yaw     =  gamepad1.right_stick_x;
-
-            // Combine the joystick requests for each axis-motion to determine each wheel's power.
-            // Set up a variable for each drive wheel to save the power level for telemetry.
-            double leftFrontPower  = axial + lateral + yaw;
-            double rightFrontPower = axial - lateral - yaw;
-            double leftBackPower   = axial - lateral + yaw;
-            double rightBackPower  = axial + lateral - yaw;
-
-            // Normalize the values so no wheel power exceeds 100%
-            // This ensures that the robot maintains the desired motion.
-            max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
-            max = Math.max(max, Math.abs(leftBackPower));
-            max = Math.max(max, Math.abs(rightBackPower));
-
-            if (max > 1.0) {
-                leftFrontPower  /= max;
-                rightFrontPower /= max;
-                leftBackPower   /= max;
-                rightBackPower  /= max;
-            }
-
-            // This is test code:
-            //
-            // Uncomment the following code to test your motor directions.
-            // Each button should make the corresponding motor run FORWARD.
-            //   1) First get all the motors to take to correct positions on the robot
-            //      by adjusting your Robot Configuration if necessary.
-            //   2) Then make sure they run in the correct direction by modifying the
-            //      the setDirection() calls above.
-            // Once the correct motors move in the correct direction re-comment this code.
-
-            /*
-            leftFrontPower  = gamepad1.x ? 1.0 : 0.0;  // X gamepad
-            leftBackPower   = gamepad1.a ? 1.0 : 0.0;  // A gamepad
-            rightFrontPower = gamepad1.y ? 1.0 : 0.0;  // Y gamepad
-            rightBackPower  = gamepad1.b ? 1.0 : 0.0;  // B gamepad
-            */
-
-            // Send calculated power to wheels
-            leftFrontDrive.setPower(leftFrontPower);
-            rightFrontDrive.setPower(rightFrontPower);
-            leftBackDrive.setPower(leftBackPower);
-            rightBackDrive.setPower(rightBackPower);
-
-            // Show the elapsed game time and wheel power.
-            telemetry.addData("Status", "Run Time: " + runtime.toString());
-            telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
-            telemetry.addData("Back  left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
-            telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
-            telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
-            telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
-            telemetry.update();
-        }
-    }}

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

@@ -1,246 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-/**
- * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
- * a circle, but some Bezier curves that have control points set essentially in a square. However,
- * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
- * heading is to be expected.
- *
- * @author Anyi Lin - 10158 Scott's Bots
- * @author Aaron Yang - 10158 Scott's Bots
- * @author Harrison Womack - 10158 Scott's Bots
- * @version 1.0, 3/12/2024
- */
-@Config
-@Autonomous(name = "BluebAutoV1", group = "Autonomous Pathing Tuning")
-public class BluebAutoV1 extends OpMode {
-    private Telemetry telemetryA;
-
-    private Follower follower;
-
-    private PathChain path;
-
-    private final Pose startPose = new Pose(7.5, 72, 90);
-
-    /**
-     * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
-     * initializes the FTC Dashboard telemetry.
-     */
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-
-        follower.setMaxPower(.4);
-
-        follower.setStartingPose(startPose);
-
-        path = follower.pathBuilder()
-                .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(7.5, 72, Point.CARTESIAN),
-                                new Point(29.893, 38.250, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 2
-                        new BezierLine(
-                                new Point(29.893, 38.250, Point.CARTESIAN),
-                                new Point(65.250, 32.143, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 3
-                        new BezierLine(
-                                new Point(65.250, 32.143, Point.CARTESIAN),
-                                new Point(61.714, 24.429, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 4
-                        new BezierLine(
-                                new Point(61.714, 24.429, Point.CARTESIAN),
-                                new Point(13.821, 22.821, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 5
-                        new BezierLine(
-                                new Point(13.821, 22.821, Point.CARTESIAN),
-                                new Point(61.714, 24.429, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 6
-                        new BezierLine(
-                                new Point(61.714, 24.429, Point.CARTESIAN),
-                                new Point(60.750, 12.696, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 7
-                        new BezierLine(
-                                new Point(60.750, 12.696, Point.CARTESIAN),
-                                new Point(12.375, 13.179, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 8
-                        new BezierLine(
-                                new Point(12.375, 13.179, Point.CARTESIAN),
-                                new Point(60.750, 12.536, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 9
-                        new BezierLine(
-                                new Point(60.750, 12.536, Point.CARTESIAN),
-                                new Point(60.589, 9.321, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 10
-                        new BezierLine(
-                                new Point(60.589, 9.321, Point.CARTESIAN),
-                                new Point(12.536, 8.357, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 11
-                        new BezierLine(
-                                new Point(12.536, 8.357, Point.CARTESIAN),
-                                new Point(26.679, 8.679, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 12
-                        new BezierLine(
-                                new Point(26.679, 8.679, Point.CARTESIAN),
-                                new Point(22.821, 109.446, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 13
-                        new BezierLine(
-                                new Point(22.821, 109.446, Point.CARTESIAN),
-                                new Point(70.714, 109.446, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 14
-                        new BezierLine(
-                                new Point(70.714, 109.446, Point.CARTESIAN),
-                                new Point(71.036, 120.214, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 15
-                        new BezierLine(
-                                new Point(71.036, 120.214, Point.CARTESIAN),
-                                new Point(22.179, 120.214, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 16
-                        new BezierLine(
-                                new Point(22.179, 120.214, Point.CARTESIAN),
-                                new Point(11.089, 130.821, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 17
-                        new BezierLine(
-                                new Point(11.089, 130.821, Point.CARTESIAN),
-                                new Point(70.714, 112.018, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 18
-                        new BezierLine(
-                                new Point(70.714, 112.018, Point.CARTESIAN),
-                                new Point(70.714, 128.250, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 19
-                        new BezierLine(
-                                new Point(70.714, 128.250, Point.CARTESIAN),
-                                new Point(9.964, 130.018, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 20
-                        new BezierLine(
-                                new Point(9.964, 130.018, Point.CARTESIAN),
-                                new Point(70.554, 130.500, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 21
-                        new BezierLine(
-                                new Point(70.554, 130.500, Point.CARTESIAN),
-                                new Point(70.393, 135.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 22
-                        new BezierLine(
-                                new Point(70.393, 135.000, Point.CARTESIAN),
-                                new Point(13.821, 134.839, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90)).build();
-
-        follower.followPath(path);
-        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
-        telemetryA.update();
-
-    }
-
-    /**
-     * This runs the OpMode, updating the Follower as well as printing out the debug statements to
-     * the Telemetry, as well as the FTC Dashboard.
-     */
-    @Override
-    public void loop() {
-        follower.update();
-        if (follower.atParametricEnd()) {
-            follower.followPath(path);
-        }
-        follower.telemetryDebug(telemetryA);
-    }
-}

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

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

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

@@ -0,0 +1,108 @@
+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

@@ -0,0 +1,193 @@
+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

@@ -0,0 +1,356 @@
+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

@@ -0,0 +1,186 @@
+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/SensorIMUOrthogonal.java

@@ -1,172 +0,0 @@
-/* Copyright (c) 2022 FIRST. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted (subject to the limitations in the disclaimer below) provided that
- * the following conditions are met:
- *
- * Redistributions of source code must retain the above copyright notice, this list
- * of conditions and the following disclaimer.
- *
- * Redistributions in binary form must reproduce the above copyright notice, this
- * list of conditions and the following disclaimer in the documentation and/or
- * other materials provided with the distribution.
- *
- * Neither the name of FIRST nor the names of its contributors may be used to endorse or
- * promote products derived from this software without specific prior written permission.
- *
- * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
- * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
- * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-package org.firstinspires.ftc.teamcode.cometbots;
-
-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.PedroConstants;
-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/cometbots/tests/ArmTest.java

@@ -34,7 +34,7 @@ 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.ArmSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.ArmActionsSubsystem;
 
 @TeleOp(name = "Arm Test", group = "Debug")
 public class ArmTest extends LinearOpMode {
@@ -48,7 +48,7 @@ public class ArmTest extends LinearOpMode {
         /*
          * Instantiate Arm
          */
-        ArmSubsystem arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
+        ArmActionsSubsystem arm = new ArmActionsSubsystem(hardwareMap);
 
         /*
          * Instantiate gamepad state holders
@@ -67,15 +67,11 @@ public class ArmTest extends LinearOpMode {
             currentGamepad1.copy(gamepad1);
 
             if (currentGamepad1.circle && !previousGamepad1.circle) {
-                arm.parkArm();
+                arm.toParkPosition();
             }
 
             if (currentGamepad1.square && !previousGamepad1.square) {
-                arm.engageArm();
-            }
-
-            if (currentGamepad1.cross && !previousGamepad1.cross) {
-                arm.switchState();
+                arm.toBucketPosition();
             }
 
             if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {

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

@@ -34,7 +34,8 @@ 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.ClawSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.ClawActionsSubsystem;
+
 
 @TeleOp(name = "Claw Test", group = "Debug")
 public class ClawTest extends LinearOpMode {
@@ -48,7 +49,7 @@ public class ClawTest extends LinearOpMode {
         /*
          * Instantiate Claw
          */
-        ClawSubsystem claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.OPEN);
+        ClawActionsSubsystem claw = new ClawActionsSubsystem(hardwareMap);
 
         /*
          * Instantiate gamepad state holders
@@ -57,6 +58,7 @@ public class ClawTest extends LinearOpMode {
         Gamepad previousGamepad1 = new Gamepad();
 
         waitForStart();
+        claw.init();
         runtime.reset();
 
         // run until the end of the match (driver presses STOP)

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

@@ -29,32 +29,26 @@
 
 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.LiftSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
 
 @TeleOp(name = "Lift Test", group = "Debug")
 public class LiftTest extends LinearOpMode {
 
-    // Declare OpMode members for each of the 4 motors.
     private final ElapsedTime runtime = new ElapsedTime();
 
-    private final int MIN_POINT = 0;
-    // 2000 ~ 2500
-
-    // 3750 max
-    private final int MAX_POINT = 6500;
-
     @Override
     public void runOpMode() {
 
         /*
          * Instantiate Lift
          */
-        LiftSubsystem lift = new LiftSubsystem(hardwareMap);
+        LiftActionsSubsystem lift = new LiftActionsSubsystem(hardwareMap);
 
         /*
          * Instantiate gamepad state holders
@@ -74,21 +68,29 @@ public class LiftTest extends LinearOpMode {
             currentGamepad1.copy(gamepad1);
 
             if (currentGamepad1.square && !previousGamepad1.square) {
-                lift.toFloor();
+                Actions.runBlocking(lift.toFloorPosition());
             }
 
             if (currentGamepad1.triangle && !previousGamepad1.triangle) {
-                lift.toHighBucket();
+                Actions.runBlocking(lift.toHighBucketPosition());
             }
 
             if (currentGamepad1.circle && !previousGamepad1.circle) {
-                lift.toLowBucket();
+                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());

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

@@ -29,31 +29,36 @@
 
 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.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.Gamepad;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
-@TeleOp(name = "Lift Raw Test", group = "Debug")
-public class LiftRawTest extends LinearOpMode {
+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 {
 
-    // Declare OpMode members for each of the 4 motors.
     private final ElapsedTime runtime = new ElapsedTime();
 
-    private final int MIN_POINT = 0;
-    private final int MAX_POINT = 3700;
-
     @Override
     public void runOpMode() {
 
         /*
          * Instantiate Lift
          */
-        DcMotor liftDrive = hardwareMap.get(DcMotor.class, "lift-motor");
-        liftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        liftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
+        LiftActionsSubsystem lift = new LiftActionsSubsystem(hardwareMap);
+        WristActionsSubsystem wrist = new WristActionsSubsystem(hardwareMap);
+        ArmActionsSubsystem arm = new ArmActionsSubsystem(hardwareMap);
+        ClawActionsSubsystem claw = new ClawActionsSubsystem(hardwareMap);
+
 
         /*
          * Instantiate gamepad state holders
@@ -61,6 +66,10 @@ public class LiftRawTest extends LinearOpMode {
         Gamepad currentGamepad1 = new Gamepad();
         Gamepad previousGamepad1 = new Gamepad();
 
+        lift.init();
+        wrist.init();
+        arm.init();
+        claw.init();
         waitForStart();
         runtime.reset();
 
@@ -71,53 +80,57 @@ public class LiftRawTest extends LinearOpMode {
             previousGamepad1.copy(currentGamepad1);
             currentGamepad1.copy(gamepad1);
 
-            liftDrive.setPower(.5);
-
-            // Max position is 6800, safely setting to 6500
-
-            if (currentGamepad1.square && !previousGamepad1.square) {
-                liftDrive.setTargetPosition(MIN_POINT);
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            if (currentGamepad1.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) {
-                liftDrive.setTargetPosition(1500);
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            }
-
-            if (currentGamepad1.circle && !previousGamepad1.circle) {
-                liftDrive.setTargetPosition(2750);
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+                wrist.setPosition(wrist.getPosition() + .05);
             }
 
             if (currentGamepad1.cross && !previousGamepad1.cross) {
-                liftDrive.setTargetPosition(MAX_POINT);
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            }
-
-            if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
-                int newPosition = liftDrive.getCurrentPosition() - 125;
-                if (newPosition < MIN_POINT) {
-                    liftDrive.setTargetPosition(MIN_POINT);
-                } else {
-                    liftDrive.setTargetPosition(newPosition);
-                }
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+                wrist.setPosition(wrist.getPosition() - .05);
             }
 
             if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
-                int newPosition = liftDrive.getCurrentPosition() + 125;
-                if (newPosition > MAX_POINT) {
-                    liftDrive.setTargetPosition(MAX_POINT);
-                } else {
-                    liftDrive.setTargetPosition(newPosition);
-                }
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+                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", liftDrive.getCurrentPosition());
+            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

@@ -0,0 +1,88 @@
+/* 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

@@ -0,0 +1,196 @@
+/* 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

@@ -29,12 +29,13 @@
 
 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.WristSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
 
 @TeleOp(name = "Wrist Test", group = "Debug")
 public class WristTest extends LinearOpMode {
@@ -48,7 +49,7 @@ public class WristTest extends LinearOpMode {
         /*
          * Instantiate Wrist
          */
-        WristSubsystem wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
+        WristActionsSubsystem wrist = new WristActionsSubsystem(hardwareMap);
 
         /*
          * Instantiate gamepad state holders
@@ -67,11 +68,11 @@ public class WristTest extends LinearOpMode {
             currentGamepad1.copy(gamepad1);
 
             if (currentGamepad1.square && !previousGamepad1.square) {
-                wrist.bucketWrist();
+                Actions.runBlocking(wrist.toBucketPosition());
             }
 
             if (currentGamepad1.circle && !previousGamepad1.circle) {
-                wrist.floorWrist();
+                Actions.runBlocking(wrist.toFloorPosition());
             }
 
             if (currentGamepad1.cross && !previousGamepad1.cross) {

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

@@ -4,18 +4,30 @@ import com.acmerobotics.dashboard.config.Config;
 
 @Config
 public class RobotConstants {
-    public static double clawClose = 1.00;
-    public static double clawOpen = 0.25;
+    public final static double clawClose = 0.8;
+    public final static double clawOpen = 0.15;
 
-    public static double armEngage = 0.5;
-    public static double armPark = 0.125;
-    public static double armBucket = 0.175;
+    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 static double wristFloor = 0.625;
-    public static double wristBucket = 0.215;
-    public static int liftToFloorPos = 20;
-    public static int liftToFloatPos = 150;
-    public static int liftToLowBucketPos = 2250;
-    public static int liftToHighBucketPos = 3850;
-    public static double liftPower = .45;
+    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/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

@@ -14,6 +14,7 @@ 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/runmodes/Auto.java

@@ -1,114 +0,0 @@
-package org.firstinspires.ftc.teamcode.runmodes;
-
-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.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Path;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-import org.firstinspires.ftc.teamcode.pedroPathing.util.Timer;
-import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
-import static org.firstinspires.ftc.teamcode.util.action.FieldConstants.*;
-
-import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
-import org.firstinspires.ftc.teamcode.util.action.Action;
-import org.firstinspires.ftc.teamcode.util.action.RunAction;
-import org.firstinspires.ftc.teamcode.util.action.SequentialAction;
-import org.firstinspires.ftc.teamcode.util.action.SleepAction;
-
-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, ClawSubsystem.ClawState.CLOSED);
-        arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
-        wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
-
-        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.engageArm();
-                    caseState = 3;
-                }
-                break;
-            case 3:
-                if (armTimer.getElapsedTimeSeconds() > 4) {
-                    wrist.floorWrist();
-                    caseState = 4;
-                }
-                break;
-            case 4:
-                if (clawTimer.getElapsedTimeSeconds() > 6) {
-                    claw.closeClaw();
-                    caseState = 5;
-                }
-                break;
-            case 5:
-                if (armTimer.getElapsedTimeSeconds() > 8) {
-                    arm.bucketArm();
-                    wrist.bucketWrist();
-                    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/runmodes/Teleop.java

@@ -1,89 +0,0 @@
-package org.firstinspires.ftc.teamcode.runmodes;
-
-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.DcMotorEx;
-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.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
-import org.firstinspires.ftc.teamcode.util.action.RunAction;
-
-public class Teleop {
-
-    private ClawSubsystem claw;
-    private Follower follower;
-    private DcMotorEx leftFront;
-    private DcMotorEx leftRear;
-    private DcMotorEx rightFront;
-    private DcMotorEx rightRear;
-    private Telemetry telemetry;
-
-    private Gamepad gamepad1;
-    private Gamepad currentGamepad1;
-    private Gamepad previousGamepad1;
-
-    public Teleop(HardwareMap hardwareMap, Telemetry telemetry, Follower follower, Gamepad gamepad1) {
-
-        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
-        initMotors(hardwareMap);
-
-        this.follower = follower;
-
-        this.telemetry = telemetry;
-        this.gamepad1 = gamepad1;
-
-        this.currentGamepad1 = new Gamepad();
-        this.previousGamepad1 = new Gamepad();
-    }
-
-    public void start() {
-        claw.start();
-        follower.startTeleopDrive();
-    }
-
-    public void update() {
-        previousGamepad1.copy(currentGamepad1);
-        currentGamepad1.copy(gamepad1);
-
-        if (currentGamepad1.a && !previousGamepad1.a)
-            claw.switchState();
-
-        follower.setTeleOpMovementVectors(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x);
-        follower.update();
-
-        telemetry.addData("X", follower.getPose().getX());
-        telemetry.addData("Y", follower.getPose().getY());
-        telemetry.addData("Heading", Math.toDegrees(follower.getPose().getHeading()));
-        telemetry.addData("Claw State", claw.getState());
-        telemetry.update();
-    }
-
-    private void initMotors(HardwareMap hardwareMap) {
-        rightFront = hardwareMap.get(DcMotorEx.class, FRONT_RIGHT_MOTOR);
-        rightRear = hardwareMap.get(DcMotorEx.class, BACK_RIGHT_MOTOR);
-        leftFront = hardwareMap.get(DcMotorEx.class, FRONT_LEFT_MOTOR);
-        leftRear = hardwareMap.get(DcMotorEx.class, BACK_LEFT_MOTOR);
-
-        rightFront.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
-        rightRear.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
-        leftFront.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
-        leftRear.setDirection(BACK_LEFT_MOTOR_DIRECTION);
-
-        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        leftRear.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightRear.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-    }
-}

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

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

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

@@ -0,0 +1,89 @@
+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/ArmSubsystem.java

@@ -1,89 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armEngage;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armPark;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.armBucket;
-
-import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.ServoImplEx;
-
-import org.firstinspires.ftc.teamcode.util.action.Actions;
-import org.firstinspires.ftc.teamcode.util.action.RunAction;
-
-public class ArmSubsystem {
-
-    public enum ArmState {
-        PARK, ENGAGE, BUCKET
-    }
-
-    public ServoImplEx arm;
-    public ArmState state;
-    public RunAction engageArm, parkArm, bucketArm;
-
-    public ArmSubsystem(HardwareMap hardwareMap, ArmState armState) {
-        arm = hardwareMap.get(ServoImplEx.class, "arm-servo");
-        arm.resetDeviceConfigurationForOpMode();
-
-        this.state = armState;
-
-        parkArm = new RunAction(this::parkArm);
-        engageArm = new RunAction(this::engageArm);
-        bucketArm = new RunAction(this::bucketArm);
-    }
-
-    public void setState(ArmState armState) {
-        if (armState == ArmState.ENGAGE) {
-            arm.setPosition(armEngage);
-            this.state = ArmState.ENGAGE;
-        } else if (armState == ArmState.PARK) {
-            arm.setPosition(armPark);
-            this.state = ArmState.PARK;
-        } else if (armState == ArmState.BUCKET) {
-            arm.setPosition(armBucket);
-            this.state = ArmState.BUCKET;
-        }
-    }
-
-    public void engageArm() {
-        setState(ArmState.ENGAGE);
-    }
-
-    public void parkArm() {
-        setState(ArmState.PARK);
-    }
-
-    public void bucketArm() {
-        setState(ArmState.BUCKET);
-    }
-
-    public void switchState() {
-        if (state == ArmState.ENGAGE) {
-            setState(ArmState.PARK);
-        } else if (state == ArmState.PARK) {
-            setState(ArmState.BUCKET);
-        } else if (state == ArmState.BUCKET) {
-            setState(ArmState.ENGAGE);
-        }
-    }
-
-    public ArmState getState() {
-        return this.state;
-    }
-
-    public void init() {
-        Actions.runBlocking(parkArm);
-    }
-
-    public void start() {
-        Actions.runBlocking(parkArm);
-    }
-
-    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

@@ -0,0 +1,36 @@
+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

@@ -0,0 +1,36 @@
+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

@@ -0,0 +1,82 @@
+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/ClawSubsystem.java

@@ -1,67 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.Servo;
-
-import org.firstinspires.ftc.teamcode.util.action.Actions;
-import org.firstinspires.ftc.teamcode.util.action.RunAction;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawOpen;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.clawClose;
-
-public class ClawSubsystem {
-
-    public enum ClawState {
-        CLOSED, OPEN
-    }
-
-    private Servo claw;
-    private ClawState state;
-    public RunAction openClaw, closeClaw;
-
-    public ClawSubsystem(HardwareMap hardwareMap, ClawState clawState) {
-        claw = hardwareMap.get(Servo.class, "claw-servo");
-        this.state = clawState;
-
-        openClaw = new RunAction(this::openClaw);
-        closeClaw = new RunAction(this::closeClaw);
-    }
-
-    public void setState(ClawState clawState) {
-        if (clawState == ClawState.CLOSED) {
-            claw.setPosition(clawClose);
-            this.state = ClawState.CLOSED;
-        } else if (clawState == ClawState.OPEN) {
-            claw.setPosition(clawOpen);
-            this.state = ClawState.OPEN;
-        }
-    }
-
-    public ClawState getState() {
-        return this.state;
-    }
-
-    public void switchState() {
-        if (state == ClawState.CLOSED) {
-            setState(ClawState.OPEN);
-        } else if (state == ClawState.OPEN) {
-            setState(ClawState.CLOSED);
-        }
-    }
-
-    public void openClaw() {
-        setState(ClawState.OPEN);
-    }
-
-    public void closeClaw() {
-        setState(ClawState.CLOSED);
-    }
-
-    public void init() {
-        Actions.runBlocking(closeClaw);
-    }
-
-    public void start() {
-        Actions.runBlocking(closeClaw);
-    }
-
-}

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

@@ -0,0 +1,38 @@
+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

@@ -0,0 +1,36 @@
+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

@@ -0,0 +1,35 @@
+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

@@ -0,0 +1,34 @@
+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

@@ -0,0 +1,34 @@
+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

@@ -0,0 +1,50 @@
+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

@@ -0,0 +1,126 @@
+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/LiftSubsystem.java

@@ -1,88 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloatPos;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloorPos;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToLowBucketPos;
-
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-import org.firstinspires.ftc.teamcode.util.action.RunAction;
-
-public class LiftSubsystem {
-
-    public DcMotor lift;
-    public RunAction toFloor, toLowBucket, toHighBucket;
-
-    public enum LiftState {
-        FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT
-    }
-
-    private LiftState liftState;
-
-    public LiftSubsystem(HardwareMap hardwareMap) {
-        lift = hardwareMap.get(DcMotor.class, "lift-motor");
-        toFloor = new RunAction(this::toFloor);
-        toLowBucket = new RunAction(this::toLowBucket);
-        toHighBucket = new RunAction(this::toHighBucket);
-    }
-
-    public void setTarget(int b) {
-        lift.setTargetPosition(b);
-        lift.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-    }
-
-    public void switchState() {
-        if (this.liftState == LiftState.FLOOR) {
-            this.toFloor();
-        } else if (this.liftState == LiftState.FLOAT) {
-            this.toLowBucket();
-        } else if (this.liftState == LiftState.LOW_BUCKET) {
-            this.toHighBucket();
-        } else if (this.liftState == LiftState.HIGH_BUCKET) {
-            this.toFloor();
-        }
-    }
-
-    public void toFloor() {
-        this.setTarget(liftToFloorPos);
-        this.setState(LiftState.FLOOR);
-    }
-
-    public void toFloat() {
-        this.setTarget(liftToFloatPos);
-        this.setState(LiftState.FLOAT);
-    }
-
-    public void toLowBucket() {
-        this.setTarget(liftToLowBucketPos);
-        this.setState(LiftState.LOW_BUCKET);
-    }
-
-    public void toHighBucket() {
-        this.setTarget(liftToHighBucketPos);
-        this.setState(LiftState.HIGH_BUCKET);
-    }
-
-    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 int getPosition() {
-        return lift.getCurrentPosition();
-    }
-
-    public void start() {
-        this.toFloor();
-    }
-
-}

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

@@ -26,7 +26,7 @@ public class MotorsSubsystem {
     public DcMotor backRightMotor;
 
     public enum TravelState {
-        PARKED, BUCKET, SUBMARINE
+        STOPPED, MOVING
     }
 
     public TravelState travelState;
@@ -60,6 +60,8 @@ public class MotorsSubsystem {
         backLeftMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         frontRightMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
         backRightMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        this.setState(TravelState.STOPPED);
     }
 
     public void setFrontLeftMotorPower(double power) {
@@ -115,8 +117,8 @@ public class MotorsSubsystem {
 
         // Show the elapsed game time and wheel power.
         this.telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
-        this.telemetry.addData("Back  left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
-        this.telemetry.update();
+        this.telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
+        this.telemetry.addData("Current State", this.getState());
     }
 
     public void setState(TravelState travelState) {
@@ -127,4 +129,12 @@ public class MotorsSubsystem {
         return this.travelState;
     }
 
+    public void setPower(DcMotor motor, double power) {
+        motor.setPower(power);
+        if (power < 0.05) {
+            this.setState(TravelState.MOVING);
+        } else {
+            this.setState(TravelState.STOPPED);
+        }
+    }
 }

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

@@ -0,0 +1,52 @@
+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

@@ -0,0 +1,104 @@
+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();
+    }
+
+}

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

@@ -1,79 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristBucket;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.wristFloor;
-
-import com.qualcomm.robotcore.hardware.HardwareMap;
-import com.qualcomm.robotcore.hardware.ServoImplEx;
-
-import org.firstinspires.ftc.teamcode.util.action.Actions;
-import org.firstinspires.ftc.teamcode.util.action.RunAction;
-
-public class WristSubsystem {
-
-    public enum WristState {
-        FLOOR, BUCKET
-    }
-
-    public ServoImplEx wrist;
-    public WristState state;
-    public RunAction floorWrist, bucketWrist;
-
-    public WristSubsystem(HardwareMap hardwareMap, WristState wristState) {
-        wrist = hardwareMap.get(ServoImplEx.class, "wrist-servo");
-        wrist.resetDeviceConfigurationForOpMode();
-
-        this.state = wristState;
-
-        bucketWrist = new RunAction(this::bucketWrist);
-        floorWrist = new RunAction(this::floorWrist);
-    }
-
-    public void setState(WristState wristState) {
-        if (wristState == WristState.FLOOR) {
-            wrist.setPosition(wristFloor);
-            this.state = WristState.FLOOR;
-        } else if (wristState == WristState.BUCKET) {
-            wrist.setPosition(wristBucket);
-            this.state = WristState.BUCKET;
-        }
-    }
-
-    public void floorWrist() {
-        setState(WristState.FLOOR);
-    }
-
-    public void bucketWrist() {
-        setState(WristState.BUCKET);
-    }
-
-    public void switchState() {
-        if (state == WristState.FLOOR) {
-            setState(WristState.BUCKET);
-        } else if (state == WristState.BUCKET) {
-            setState(WristState.FLOOR);
-        }
-    }
-
-    public WristState getState() {
-        return this.state;
-    }
-
-    public void init() {
-        Actions.runBlocking(floorWrist);
-    }
-
-    public void start() {
-        Actions.runBlocking(floorWrist);
-    }
-
-    public double getPosition() {
-        return this.wrist.getPosition();
-    }
-
-    public void setPosition(double position) {
-        this.wrist.setPosition(position);
-    }
-
-
-}

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

@@ -1,11 +0,0 @@
-package org.firstinspires.ftc.teamcode.util.action;
-
-import com.acmerobotics.dashboard.canvas.Canvas;
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-
-public interface Action {
-    boolean run(TelemetryPacket p);
-
-    default void preview(Canvas fieldOverlay) {
-    }
-}

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

@@ -1,24 +0,0 @@
-package org.firstinspires.ftc.teamcode.util.action;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.canvas.Canvas;
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-
-public class Actions {
-
-    public static void runBlocking(Action a) {
-        FtcDashboard dash = FtcDashboard.getInstance();
-        Canvas c = new Canvas();
-        a.preview(c);
-
-        boolean b = true;
-        while (b && !Thread.currentThread().isInterrupted()) {
-            TelemetryPacket p = new TelemetryPacket();
-            p.fieldOverlay().getOperations().addAll(c.getOperations());
-
-            b = a.run(p);
-
-            dash.sendTelemetryPacket(p);
-        }
-    }
-}

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

@@ -1,39 +0,0 @@
-package org.firstinspires.ftc.teamcode.util.action;
-
-import com.acmerobotics.dashboard.config.Config;
-
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-
-@Config
-public class FieldConstants {
-
-    public enum RobotStart {
-        BLUE_BUCKET,
-        BLUE_OBSERVATION,
-        RED_BUCKET,
-        RED_OBSERVATION
-    }
-
-    public static final Pose blueBucketStartPose = new Pose(8, 79.5, Math.toRadians(180));
-    public static final Pose blueObservationStartPose = new Pose(8, 36, Math.toRadians(180));
-    public static final Pose redBucketStartPose = new Pose(144-8, 79.5, 0);
-    public static final Pose redObservationStartPose = new Pose(144-8, 36, 0);
-
-    // Blue Preload Poses
-    public static final Pose blueBucketPreloadPose = new Pose(34.5, 79.5, Math.toRadians(180));
-
-    // Blue Bucket Sample Poses
-    public static final Pose blueBucketLeftSamplePose = new Pose(34.75, 113.5, Math.toRadians(66));
-    public static final Pose blueBucketLeftSampleControlPose = new Pose(32, 108);
-    public static final Pose blueBucketMidSamplePose = new Pose(33, 125.5, Math.toRadians(73));
-    public static final Pose blueBucketMidSampleControlPose = new Pose(47.5, 110);
-    public static final Pose blueBucketRightSamplePose = new Pose(33, 133, Math.toRadians(74));
-    public static final Pose blueBucketRightSampleControlPose = new Pose(46, 101);
-
-    public static final Pose blueBucketScorePose = new Pose(16, 128, Math.toRadians(-45));
-
-    public static final Pose blueBucketParkPose = new Pose(65, 97.75, Math.toRadians(90));
-    public static final Pose blueBucketParkControlPose = new Pose(60.25, 123.5);
-
-
-}

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

@@ -1,30 +0,0 @@
-package org.firstinspires.ftc.teamcode.util.action;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-
-public class RunAction implements Action {
-
-    private final Runnable runnable;
-    private Runnable callback;
-
-    public RunAction(Runnable runnable) {
-        this.runnable = runnable;
-    }
-
-    public void runAction() {
-        runnable.run();
-        if (callback != null) {
-            callback.run();
-        }
-    }
-
-    public void setCallback(Runnable callback) {
-        this.callback = callback;
-    }
-
-    // Adapter to make Action compatible with the Action interface
-    public boolean run(TelemetryPacket p) {
-        runAction();
-        return false; // Regular actions complete after one execution
-    }
-}

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

@@ -1,43 +0,0 @@
-package org.firstinspires.ftc.teamcode.util.action;
-
-import com.acmerobotics.dashboard.canvas.Canvas;
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.List;
-
-public class SequentialAction implements Action {
-    private List<Action> actions;
-
-    public SequentialAction(List<Action> actions) {
-        this.actions = new ArrayList<>(actions);
-    }
-
-    public SequentialAction(Action... actions) {
-        this(Arrays.asList(actions));
-    }
-
-    @Override
-    public boolean run(TelemetryPacket p) {
-        if (actions.isEmpty()) {
-            return false;
-        }
-
-        if (actions.get(0).run(p)) {
-            return true;
-        } else {
-            actions.remove(0);
-            return run(p);
-        }
-    }
-
-    @Override
-    public void preview(Canvas fieldOverlay) {
-        for (Action a : actions) {
-            a.preview(fieldOverlay);
-        }
-    }
-
-
-}

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

@@ -1,32 +0,0 @@
-package org.firstinspires.ftc.teamcode.util.action;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-
-import java.util.Timer;
-import java.util.TimerTask;
-
-public class SleepAction implements Action {
-    private final double dt;
-    private boolean isFinished = false;
-
-    public SleepAction(double dt) {
-        this.dt = dt;
-    }
-
-    @Override
-    public boolean run(TelemetryPacket p) {
-        if (!isFinished) {
-            Timer timer = new Timer();
-            timer.schedule(new TimerTask() {
-                @Override
-                public void run() {
-                    isFinished = true;
-                }
-            }, (long) (dt * 1000));
-        } else {
-            isFinished = false; // Reset the flag after sleep is complete
-            return false; // Indicate that the action is finished
-        }
-        return true; // Indicate that the action is still running
-    }
-}

build.dependencies.gradle

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