Motors on GP1, Arm on GP2

- Using Actions
- Rewire logic
- Add usage of telemetry
- Initial Field states

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/CometBotAuto.java

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

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

@@ -1,31 +1,26 @@
 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.CometBotTeleopCompetition;
-import org.firstinspires.ftc.teamcode.runmodes.Teleop;
+import org.firstinspires.ftc.teamcode.runmodes.DevTeleopRunModeCompetition;
 
-@TeleOp(name="ComeBot Drive", group="Debug")
+@TeleOp(name = "ComeBot Drive", group = "Competition")
-@Disabled
 public class CometBotDrive extends OpMode {
 
-    private Teleop teleop;
+    public CometBotTeleopCompetition runMode;
 
     @Override
     public void init() {
-        teleop = new Teleop(hardwareMap,
+        this.runMode = new CometBotTeleopCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
-                telemetry,
+        this.runMode.init();
-                new Follower(hardwareMap),
-                gamepad1);
-        teleop.start();
     }
 
     @Override
     public void loop() {
-        teleop.update();
+        this.runMode.update();
+        telemetry.update();
     }
 }

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

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

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

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

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

@@ -1,196 +1,24 @@
 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.runmodes.DevTeleopRunModeCompetition;
-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")
+@TeleOp(name = "Dev Teleop RR Actions", group = "Debug")
 public class DevTeleop extends OpMode {
 
-    public ClawSubsystem claw;
+    public DevTeleopRunModeCompetition runMode;
-    public ArmSubsystem arm;
-    public WristSubsystem wrist;
-    public LiftSubsystem lift;
-    public Gamepad currentGamepad1;
-    public Gamepad previousGamepad1;
-    public Gamepad currentGamepad2;
-    public Gamepad previousGamepad2;
-    public DcMotor frontLeftMotor;
-    public DcMotor backLeftMotor;
-    public DcMotor frontRightMotor;
-    public DcMotor backRightMotor;
 
-    private double MAX_POWER = .45;
     @Override
     public void init() {
-        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
+        this.runMode = new DevTeleopRunModeCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
-        arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
+        this.runMode.init();
-        wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
-        lift = new LiftSubsystem(hardwareMap);
-        claw.init();
-        arm.init();
-        wrist.init();
-        lift.init();
-
-        frontLeftMotor  = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
-        backLeftMotor  = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
-        frontRightMotor = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
-        backRightMotor = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
-
-        frontLeftMotor.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
-        backLeftMotor.setDirection(BACK_LEFT_MOTOR_DIRECTION);
-        frontRightMotor.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
-        backRightMotor.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
-
-        currentGamepad1 = new Gamepad();
-        previousGamepad1 = new Gamepad();
-        currentGamepad2 = new Gamepad();
-        previousGamepad2 = new Gamepad();
-    }
-
-    public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
-//pick up
-        if (currentGamepad2.dpad_down && !previousGamepad2.dpad_down) {
-            wrist.floorWrist();
-            arm.engageArm();
-        }
-
-
-
-    }
-    public void thePickup(ClawSubsystem claw) {
-//claw open close
-        if (currentGamepad2.right_bumper && !previousGamepad2.right_bumper) {
-            claw.switchState();
-        }
-
-    }
-
-    /* public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
-
-        if (currentGamepad1.b && !previousGamepad1.b) {
-            arm.parkArm();
-            wrist.bucketWrist();
-        }
-
-    }
-*/
-    public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
-//low bucket
-        if (currentGamepad2.a && !previousGamepad2.a) {
-            lift.toLowBucket();
-            arm.bucketArm();
-            wrist.bucketWrist();
-        }
-    }
-
-    public void theHighBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
-//high basket
-        if (currentGamepad2.b && !previousGamepad2.b) {
-            lift.toHighBucket();
-            arm.bucketArm();
-            wrist.bucketWrist();
-        }
-    }
-
-    public void theTravel(LiftSubsystem lift, ArmSubsystem arm, WristSubsystem wrist){
-//
-        if (currentGamepad2.dpad_right && !previousGamepad2.dpad_right){
-            lift.toFloor();
-            arm.bucketArm();
-            wrist.floorWrist();
-        }
-    }
-
-    public void hoverState(ArmSubsystem arm, WristSubsystem wrist, LiftSubsystem lift){
-        if (currentGamepad1.dpad_left && !previousGamepad2.dpad_left){
-            lift.toHover();
-            wrist.floorWrist();
-            arm.engageArm();
-        }
-
-
     }
 
     @Override
     public void loop() {
-        previousGamepad1.copy(currentGamepad1);
+        this.runMode.update();
-        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/PedroConstants.java

@@ -8,43 +8,69 @@ import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
 public class PedroConstants {
 
     /*
-        Robot parameters
+        Motor configuration names
     */
-    // Turn localizer - -0.003
-
-
-    // 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";
+        Motor Max Power
+     */
+    public static final double MAX_POWER = .75;
 
-    // Robot IMU placement
+    /*
+        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
+    /*
+        Dead wheels
+     */
     public static final String LEFT_ENCODER = "encoder left";
     public static final String RIGHT_ENCODER = "encoder right";
     public static final String BACK_ENCODER = "encoder back";
 
-    // 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";
+
     /*
         Pedro's parameters
     */

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/poc/AsherOrientBlue.java

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

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

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

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

@@ -1,9 +1,10 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.poc;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
@@ -13,7 +14,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
+import com.acmerobotics.roadrunner.SleepAction;
 /**
  * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
  * a circle, but some Bezier curves that have control points set essentially in a square. However,
@@ -26,6 +27,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
+@Disabled
 @Autonomous(name = "AsherPathV1", group = "Autonomous Pathing Tuning")
 public class AsherPathV1 extends OpMode {
     private Telemetry telemetryA;

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -1,15 +1,17 @@
-package org.firstinspires.ftc.teamcode.cometbots;
+package org.firstinspires.ftc.teamcode.cometbots.poc;
 
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
 import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
 import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierPoint;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
 
@@ -25,6 +27,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
  * @version 1.0, 3/12/2024
  */
 @Config
+@Disabled
 @Autonomous(name = "BluebAutoV1", group = "Autonomous Pathing Tuning")
 public class BluebAutoV1 extends OpMode {
     private Telemetry telemetryA;
@@ -225,6 +228,14 @@ public class BluebAutoV1 extends OpMode {
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(90)).build();
 
+
+        follower.holdPoint(
+                new BezierPoint(
+                        new Point(13.821, 134.839, Point.CARTESIAN)
+                ),
+                90
+        );
+
         follower.followPath(path);
         telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
         telemetryA.update();
@@ -239,7 +250,7 @@ public class BluebAutoV1 extends OpMode {
     public void loop() {
         follower.update();
         if (follower.atParametricEnd()) {
-            follower.followPath(path);
+            follower.followPath(path, true);
         }
         follower.telemetryDebug(telemetryA);
     }

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();
+                arm.toBucketPosition();
-            }
-
-            if (currentGamepad1.cross && !previousGamepad1.cross) {
-                arm.switchState();
             }
 
             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

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

@@ -31,29 +31,27 @@ package org.firstinspires.ftc.teamcode.cometbots.tests;
 
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.Gamepad;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
-@TeleOp(name = "Lift Raw Test", group = "Debug")
+import org.firstinspires.ftc.teamcode.subsystem.ArmActionsSubsystem;
-public class LiftRawTest extends LinearOpMode {
+import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
+
+@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");
+        LiftActionsSubsystem lift = new LiftActionsSubsystem(hardwareMap);
-        liftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        WristActionsSubsystem wrist = new WristActionsSubsystem(hardwareMap);
-        liftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
+        ArmActionsSubsystem arm = new ArmActionsSubsystem(hardwareMap);
 
         /*
          * Instantiate gamepad state holders
@@ -61,6 +59,9 @@ public class LiftRawTest extends LinearOpMode {
         Gamepad currentGamepad1 = new Gamepad();
         Gamepad previousGamepad1 = new Gamepad();
 
+        lift.init();
+        wrist.init();
+        arm.init();
         waitForStart();
         runtime.reset();
 
@@ -71,53 +72,36 @@ public class LiftRawTest extends LinearOpMode {
             previousGamepad1.copy(currentGamepad1);
             currentGamepad1.copy(gamepad1);
 
-            liftDrive.setPower(.5);
+            if (currentGamepad1.dpad_up && !previousGamepad1.dpad_up) {
+                arm.setPosition(arm.getPosition() + .05);
+            }
 
-            // Max position is 6800, safely setting to 6500
+            if (currentGamepad1.dpad_down && !previousGamepad1.dpad_down) {
-
+                arm.setPosition(arm.getPosition() - .05);
-            if (currentGamepad1.square && !previousGamepad1.square) {
-                liftDrive.setTargetPosition(MIN_POINT);
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
             }
 
             if (currentGamepad1.triangle && !previousGamepad1.triangle) {
-                liftDrive.setTargetPosition(1500);
+                wrist.setPosition(wrist.getPosition() + .05);
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            }
-
-            if (currentGamepad1.circle && !previousGamepad1.circle) {
-                liftDrive.setTargetPosition(2750);
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
             }
 
             if (currentGamepad1.cross && !previousGamepad1.cross) {
-                liftDrive.setTargetPosition(MAX_POINT);
+                wrist.setPosition(wrist.getPosition() - .05);
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            }
-
-            if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
-                int newPosition = liftDrive.getCurrentPosition() - 125;
-                if (newPosition < MIN_POINT) {
-                    liftDrive.setTargetPosition(MIN_POINT);
-                } else {
-                    liftDrive.setTargetPosition(newPosition);
-                }
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
             }
 
             if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
-                int newPosition = liftDrive.getCurrentPosition() + 125;
+                lift.setPosition(lift.getPosition() + 175);
-                if (newPosition > MAX_POINT) {
-                    liftDrive.setTargetPosition(MAX_POINT);
-                } else {
-                    liftDrive.setTargetPosition(newPosition);
             }
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+
+            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", 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/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

@@ -4,19 +4,20 @@ import com.acmerobotics.dashboard.config.Config;
 
 @Config
 public class RobotConstants {
-    public static double clawClose = 1.00;
+    public final static double clawClose = 1.00;
-    public static double clawOpen = 0.05;
+    public final static double clawOpen = 0.05;
 
-    public static double armEngage = 0.5;
+    public final static double armFloor = 0.45;
-    public static double armPark = 0.125;
+    public final static double armSubmarine = 0.375;
-    public static double armBucket = 0.175;
+    public final static double armPark = 0.0;
+    public final static double armBucket = 0.15;
 
-    public static double wristFloor = 0.625;
+    public final static double wristFloor = 0.7;
-    public static double wristBucket = 0.215;
+    public final static double wristBucket = 0.35;
-    public static int liftToFloorPos = 20;
+
-    public static int liftToFloatPos = 150;
+    public final static int liftToFloorPos = 0;
-    public static int liftToLowBucketPos = 2250;
+    public final static int liftToSubmarinePos = 250;
-    public static int liftToHighBucketPos = 3900;
+    public final static int liftToLowBucketPos = 2250;
-    public static double liftPower = .45;
+    public final static int liftToHighBucketPos = 3850;
-    public static int liftToHoverState = 60;
+    public final static double liftPower = .625;
 }

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

@@ -1,114 +1,103 @@
-package org.firstinspires.ftc.teamcode.runmodes;
+//package org.firstinspires.ftc.teamcode.runmodes;
-
+//
-import com.qualcomm.robotcore.hardware.HardwareMap;
+//import com.qualcomm.robotcore.hardware.HardwareMap;
-
+//
-import org.firstinspires.ftc.robotcore.external.Telemetry;
+//import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+//import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
+//import org.firstinspires.ftc.teamcode.pedroPathing.util.Timer;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
+//import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Path;
+//import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
+//import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
+//
-import org.firstinspires.ftc.teamcode.pedroPathing.util.Timer;
+//public class Auto {
-import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
+//
-import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
+//    public ClawSubsystem claw;
-import static org.firstinspires.ftc.teamcode.util.action.FieldConstants.*;
+//    public ArmSubsystem arm;
-
+//    public WristSubsystem wrist;
-import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
+//
-import org.firstinspires.ftc.teamcode.util.action.Action;
+//    public Timer clawTimer = new Timer();
-import org.firstinspires.ftc.teamcode.util.action.RunAction;
+//    public Timer armTimer = new Timer();
-import org.firstinspires.ftc.teamcode.util.action.SequentialAction;
+//    public Timer wristTimer = new Timer();
-import org.firstinspires.ftc.teamcode.util.action.SleepAction;
+//
-
+//    public Follower follower;
-public class Auto {
+//    public Telemetry telemetry;
-
+//
-    public ClawSubsystem claw;
+//    public int caseState = 1;
-    public ArmSubsystem arm;
+//
-    public WristSubsystem wrist;
+//    public Auto(HardwareMap hardwareMap, Telemetry telemetry, Follower follower) {
-
+//        claw = new ClawSubsystem(hardwareMap, telemetry);
-    public Timer clawTimer = new Timer();
+//        arm = new ArmSubsystem(hardwareMap, telemetry);
-    public Timer armTimer = new Timer();
+//        wrist = new WristSubsystem(hardwareMap, telemetry);
-    public Timer wristTimer = new Timer();
+//
-
+//        this.follower = follower;
-    public Follower follower;
+//        this.telemetry = telemetry;
-    public Telemetry telemetry;
+//
-
+//        init();
-    public int caseState = 1;
+//    }
-
+//
-    public Auto(HardwareMap hardwareMap, Telemetry telemetry, Follower follower) {
+//    public void init() {
-        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
+//        claw.init();
-        arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
+//        arm.init();
-        wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
+//        wrist.init();
-
+//    }
-        this.follower = follower;
+//
-        this.telemetry = telemetry;
+//    public void start() {
-
+//        clawTimer.resetTimer();
-        init();
+//        armTimer.resetTimer();
-    }
+//        wristTimer.resetTimer();
-
+//
-    public void init() {
+//        claw.start();
-        claw.init();
+//        arm.start();
-        arm.init();
+//        wrist.start();
-        wrist.init();
+//    }
-    }
+//
-
+//    public void update() {
-    public void start() {
+//
-        clawTimer.resetTimer();
+//        this.telemetry.addData("Current State", caseState);
-        armTimer.resetTimer();
+//        this.telemetry.addData("Claw Timer", clawTimer.getElapsedTimeSeconds());
-        wristTimer.resetTimer();
+//        this.telemetry.addData("Arm Timer", armTimer.getElapsedTimeSeconds());
-
+//        this.telemetry.addData("Wrist Timer", wristTimer.getElapsedTimeSeconds());
-        claw.start();
+//        this.telemetry.update();
-        arm.start();
+//
-        wrist.start();
+//        switch (caseState) {
-    }
+//            case 1:
-
+//                claw.openClaw();
-    public void update() {
+//                caseState = 2;
-
+//                break;
-        this.telemetry.addData("Current State", caseState);
+//            case 2:
-        this.telemetry.addData("Claw Timer", clawTimer.getElapsedTimeSeconds());
+//                if (clawTimer.getElapsedTimeSeconds() > 2) {
-        this.telemetry.addData("Arm Timer", armTimer.getElapsedTimeSeconds());
+//                    arm.toFloorPosition();
-        this.telemetry.addData("Wrist Timer", wristTimer.getElapsedTimeSeconds());
+//                    caseState = 3;
-        this.telemetry.update();
+//                }
-
+//                break;
-        switch(caseState) {
+//            case 3:
-            case 1:
+//                if (armTimer.getElapsedTimeSeconds() > 4) {
-                claw.openClaw();
+//                    wrist.toFloorPosition();
-                caseState = 2;
+//                    caseState = 4;
-                break;
+//                }
-            case 2:
+//                break;
-                if (clawTimer.getElapsedTimeSeconds() > 2) {
+//            case 4:
-                    arm.engageArm();
+//                if (clawTimer.getElapsedTimeSeconds() > 6) {
-                    caseState = 3;
+//                    claw.closeClaw();
-                }
+//                    caseState = 5;
-                break;
+//                }
-            case 3:
+//                break;
-                if (armTimer.getElapsedTimeSeconds() > 4) {
+//            case 5:
-                    wrist.floorWrist();
+//                if (armTimer.getElapsedTimeSeconds() > 8) {
-                    caseState = 4;
+//                    arm.toBucketPosition();
-                }
+//                    wrist.toBucketPosition();
-                break;
+//                    caseState = 6;
-            case 4:
+//                }
-                if (clawTimer.getElapsedTimeSeconds() > 6) {
+//                break;
-                    claw.closeClaw();
+//            case 6:
-                    caseState = 5;
+//                if (clawTimer.getElapsedTimeSeconds() > 10) {
-                }
+//                    claw.openClaw();
-                break;
+//                    caseState = 7;
-            case 5:
+//                }
-                if (armTimer.getElapsedTimeSeconds() > 8) {
+//                break;
-                    arm.bucketArm();
+//            case 7:
-                    wrist.bucketWrist();
+//                this.init();
-                    caseState = 6;
+//                break;
-                }
+//        }
-                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/CometBotTeleopCompetition.java

@@ -0,0 +1,187 @@
+package org.firstinspires.ftc.teamcode.runmodes;
+
+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.WristActionsSubsystem;
+
+public class CometBotTeleopCompetition {
+
+    /*
+    Subsystems
+     */
+    private MotorsSubsystem motors;
+    public ClawActionsSubsystem claw;
+    public ArmActionsSubsystem arm;
+    public WristActionsSubsystem wrist;
+    public LiftActionsSubsystem lift;
+
+    /*
+    Controllers
+     */
+    public Gamepad GP1;
+    public Gamepad GP2;
+    public Gamepad currentGP1;
+    public Gamepad previousGP1;
+    public Gamepad currentGP2;
+    public Gamepad previousGP2;
+    private Telemetry telemetry;
+    public FieldStates fieldStates;
+
+    private Follower follower;
+
+    public CometBotTeleopCompetition(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
+        this.motors = new MotorsSubsystem(hardwareMap, telemetry, .55);
+        this.claw = new ClawActionsSubsystem(hardwareMap);
+        this.arm = new ArmActionsSubsystem(hardwareMap);
+        this.wrist = new WristActionsSubsystem(hardwareMap);
+        this.lift = new LiftActionsSubsystem(hardwareMap);
+        this.GP1 = gp1;
+        this.GP2 = gp2;
+        this.telemetry = telemetry;
+        this.currentGP1 = new Gamepad();
+        this.currentGP2 = new Gamepad();
+        this.previousGP1 = new Gamepad();
+        this.previousGP2 = new Gamepad();
+        this.fieldStates = new FieldStates();
+        this.follower = new Follower(hardwareMap);
+    }
+
+    public void init() {
+        this.motors.init();
+        this.claw.init();
+        this.arm.init();
+        this.wrist.init();
+        this.lift.init();
+        this.fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
+        follower.setMaxPower(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.toHighBucketScore();
+        this.toLowBucketScore();
+        this.toArmParkPosition();
+        this.toArmParkThenSwitchBetweenSubmarineAndFloorPosition();
+        this.clawControl();
+
+        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.currentGP2.triangle && !this.previousGP2.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.currentGP2.circle && !this.previousGP2.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.currentGP2.right_bumper && !this.previousGP2.right_bumper) {
+            this.claw.switchState();
+        }
+    }
+
+    public void toArmParkPosition() {
+        if (this.currentGP2.square && !this.previousGP2.square) {
+            Actions.runBlocking(this.arm.toParkPosition());
+        }
+    }
+
+    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) {
+                Actions.runBlocking(
+                        new SequentialAction(
+                                this.arm.toFloorPosition(),
+                                this.wrist.toFloorPosition()
+                        )
+                );
+            } else if (this.arm.getState() == ArmActionsSubsystem.ArmState.FLOOR) {
+                Actions.runBlocking(
+                        new SequentialAction(
+                                this.arm.toSubmarinePosition(),
+                                this.wrist.toFloorPosition()
+                        )
+                );
+            }
+        }
+    }
+
+}

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

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

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

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

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

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

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

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(closeClaw());
+    }
+
+    public double getPosition() {
+        return this.claw.getPosition();
+    }
+
+}

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

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

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

@@ -0,0 +1,103 @@
+package org.firstinspires.ftc.teamcode.subsystem;
+
+import static org.firstinspires.ftc.teamcode.PedroConstants.LIFT_NAME;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftPower;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloorPos;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos;
+import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToLowBucketPos;
+
+import androidx.annotation.NonNull;
+
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+public class LiftActionsSubsystem {
+
+    public DcMotor lift;
+
+    public enum LiftState {
+        FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT, SUBMARINE
+    }
+
+    private LiftState liftState;
+
+    public LiftActionsSubsystem(HardwareMap hardwareMap) {
+        lift = hardwareMap.get(DcMotor.class, LIFT_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 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

@@ -1,34 +1,38 @@
 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.liftToSubmarinePos;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToFloorPos;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHighBucketPos;
 import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToLowBucketPos;
-import static org.firstinspires.ftc.teamcode.configs.RobotConstants.liftToHoverState;
 
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.util.action.Actions;
 import org.firstinspires.ftc.teamcode.util.action.RunAction;
 
 public class LiftSubsystem {
 
     public DcMotor lift;
-    public RunAction toFloor, toLowBucket, toHighBucket;
+    public RunAction toFloor, toLowBucket, toHighBucket, toFloat;
 
     public enum LiftState {
-        FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT, HOVER
+        FLOOR, LOW_BUCKET, HIGH_BUCKET, FLOAT
     }
 
     private LiftState liftState;
+    private Telemetry telemetry;
 
-    public LiftSubsystem(HardwareMap hardwareMap) {
+    public LiftSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
         lift = hardwareMap.get(DcMotor.class, "lift-motor");
         toFloor = new RunAction(this::toFloor);
         toLowBucket = new RunAction(this::toLowBucket);
         toHighBucket = new RunAction(this::toHighBucket);
+        toFloat = new RunAction(this::toFloat);
+        this.telemetry = telemetry;
     }
 
     public void setTarget(int b) {
@@ -38,7 +42,7 @@ public class LiftSubsystem {
 
     public void switchState() {
         if (this.liftState == LiftState.FLOOR) {
-            this.toFloor();
+            this.toFloat();
         } else if (this.liftState == LiftState.FLOAT) {
             this.toLowBucket();
         } else if (this.liftState == LiftState.LOW_BUCKET) {
@@ -48,29 +52,24 @@ public class LiftSubsystem {
         }
     }
 
-     public void toHover() {
-        this.setTarget(liftToHoverState);
-        this.setState(LiftState.HOVER);
-    }
-
     public void toFloor() {
-        this.setTarget(liftToFloorPos);
         this.setState(LiftState.FLOOR);
+        this.setTarget(liftToFloorPos);
     }
 
     public void toFloat() {
-        this.setTarget(liftToFloatPos);
         this.setState(LiftState.FLOAT);
+        this.setTarget(liftToSubmarinePos);
     }
 
     public void toLowBucket() {
-        this.setTarget(liftToLowBucketPos);
         this.setState(LiftState.LOW_BUCKET);
+        this.setTarget(liftToLowBucketPos);
     }
 
     public void toHighBucket() {
-        this.setTarget(liftToHighBucketPos);
         this.setState(LiftState.HIGH_BUCKET);
+        this.setTarget(liftToHighBucketPos);
     }
 
     public void init() {
@@ -83,12 +82,14 @@ public class LiftSubsystem {
         this.liftState = liftState;
     }
 
+    public LiftState getState() { return this.liftState; }
+
     public int getPosition() {
         return lift.getCurrentPosition();
     }
 
     public void start() {
-        this.toFloor();
+        Actions.runBlocking(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) {
@@ -116,7 +118,7 @@ public class MotorsSubsystem {
         // Show the elapsed game time and wheel power.
         this.telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
         this.telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
-        this.telemetry.update();
+        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/WristActionsSubsystem.java

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

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

@@ -1,11 +1,13 @@
 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 com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.ServoImplEx;
 
+import org.firstinspires.ftc.robotcore.external.Telemetry;
 import org.firstinspires.ftc.teamcode.util.action.Actions;
 import org.firstinspires.ftc.teamcode.util.action.RunAction;
 
@@ -17,33 +19,30 @@ public class WristSubsystem {
 
     public ServoImplEx wrist;
     public WristState state;
-    public RunAction floorWrist, bucketWrist;
+    public RunAction toFloorPosition, toBucketPosition;
+    public Telemetry telemetry;
 
-    public WristSubsystem(HardwareMap hardwareMap, WristState wristState) {
+    public WristSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
-        wrist = hardwareMap.get(ServoImplEx.class, "wrist-servo");
+        this.wrist = hardwareMap.get(ServoImplEx.class, WRIST_NAME);
-        wrist.resetDeviceConfigurationForOpMode();
+        this.telemetry = telemetry;
-
+        toBucketPosition = new RunAction(this::toBucketPosition);
-        this.state = wristState;
+        toFloorPosition = new RunAction(this::toFloorPosition);
-
-        bucketWrist = new RunAction(this::bucketWrist);
-        floorWrist = new RunAction(this::floorWrist);
     }
 
     public void setState(WristState wristState) {
         if (wristState == WristState.FLOOR) {
             wrist.setPosition(wristFloor);
-            this.state = WristState.FLOOR;
         } else if (wristState == WristState.BUCKET) {
             wrist.setPosition(wristBucket);
-            this.state = WristState.BUCKET;
         }
+        this.state = wristState;
     }
 
-    public void floorWrist() {
+    public void toFloorPosition() {
         setState(WristState.FLOOR);
     }
 
-    public void bucketWrist() {
+    public void toBucketPosition() {
         setState(WristState.BUCKET);
     }
 
@@ -60,11 +59,12 @@ public class WristSubsystem {
     }
 
     public void init() {
-        Actions.runBlocking(floorWrist);
+        wrist.resetDeviceConfigurationForOpMode();
+        Actions.runBlocking(toFloorPosition);
     }
 
     public void start() {
-        Actions.runBlocking(floorWrist);
+        Actions.runBlocking(toFloorPosition);
     }
 
     public double getPosition() {

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

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

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

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

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"
 
+}