Fine tune values

- 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

@@ -7,7 +7,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
 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 Auto auto;
 

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

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

@@ -31,10 +31,10 @@ public class DevTeleOpRemix extends OpMode {
     @Override
     public void init() {
 
-        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
-        arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
-        wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
-        lift = new LiftSubsystem(hardwareMap);
+        claw = new ClawSubsystem(hardwareMap, telemetry);
+        arm = new ArmSubsystem(hardwareMap, telemetry);
+        wrist = new WristSubsystem(hardwareMap, telemetry);
+        lift = new LiftSubsystem(hardwareMap, telemetry);
         motors = new MotorsSubsystem(hardwareMap, telemetry, power);
 
         claw.init();
@@ -51,8 +51,8 @@ public class DevTeleOpRemix extends OpMode {
 
     public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
         if (currentGamepad1.a && !previousGamepad1.a) {
-            wrist.floorWrist();
-            arm.engageArm();
+            wrist.toFloorPosition();
+            arm.toFloorPosition();
         }
     }
 
@@ -64,15 +64,15 @@ public class DevTeleOpRemix extends OpMode {
 
     public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
         if (currentGamepad1.b && !previousGamepad1.b) {
-            arm.parkArm();
-            wrist.bucketWrist();
+            arm.toParkPosition();
+            wrist.toBucketPosition();
         }
     }
 
     public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
         if (currentGamepad1.y && !previousGamepad1.y) {
             lift.toLowBucket();
-            wrist.bucketWrist();
+            wrist.toBucketPosition();
         }
     }
 

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

@@ -36,11 +36,11 @@ public class DevTeleOpRemixDeux extends OpMode {
 
         follower = new Follower(hardwareMap);
 
-        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
-        arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
-        wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
+        claw = new ClawSubsystem(hardwareMap, telemetry);
+        arm = new ArmSubsystem(hardwareMap, telemetry);
+        wrist = new WristSubsystem(hardwareMap, telemetry);
         motors = new MotorsSubsystem(hardwareMap, telemetry);
-        lift = new LiftSubsystem(hardwareMap);
+        lift = new LiftSubsystem(hardwareMap, telemetry);
 
         claw.init();
         arm.init();
@@ -60,8 +60,8 @@ public class DevTeleOpRemixDeux extends OpMode {
 
     public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
         if (currentGamepad1.a && !previousGamepad1.a) {
-            wrist.floorWrist();
-            arm.engageArm();
+            wrist.toFloorPosition();
+            arm.toFloorPosition();
         }
     }
 
@@ -73,15 +73,15 @@ public class DevTeleOpRemixDeux extends OpMode {
 
     public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
         if (currentGamepad1.b && !previousGamepad1.b) {
-            arm.parkArm();
-            wrist.bucketWrist();
+            arm.toParkPosition();
+            wrist.toBucketPosition();
         }
     }
 
     public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
         if (currentGamepad1.y && !previousGamepad1.y) {
             lift.toLowBucket();
-            wrist.bucketWrist();
+            wrist.toBucketPosition();
         }
     }
 

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

@@ -1,196 +1,25 @@
 package org.firstinspires.ftc.teamcode;
 
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER_DIRECTION;
-
-import android.graphics.Point;
-
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.Gamepad;
 
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
-import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.LiftSubsystem;
-import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
+import org.firstinspires.ftc.teamcode.runmodes.DevTeleopRunMode;
+import org.firstinspires.ftc.teamcode.runmodes.DevTeleopRunModeCompetition;
 
-@TeleOp(name = "Dev Teleop", group = "Debug")
+@TeleOp(name = "Dev Teleop RR Actions", group = "Debug")
 public class DevTeleop extends OpMode {
 
-    public ClawSubsystem claw;
-    public ArmSubsystem arm;
-    public WristSubsystem wrist;
-    public LiftSubsystem lift;
-    public Gamepad currentGamepad1;
-    public Gamepad previousGamepad1;
-    public Gamepad currentGamepad2;
-    public Gamepad previousGamepad2;
-    public DcMotor frontLeftMotor;
-    public DcMotor backLeftMotor;
-    public DcMotor frontRightMotor;
-    public DcMotor backRightMotor;
+    public DevTeleopRunModeCompetition runMode;
 
-    private double MAX_POWER = .45;
     @Override
     public void init() {
-        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
-        arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
-        wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
-        lift = new LiftSubsystem(hardwareMap);
-        claw.init();
-        arm.init();
-        wrist.init();
-        lift.init();
-
-        frontLeftMotor  = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
-        backLeftMotor  = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
-        frontRightMotor = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
-        backRightMotor = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
-
-        frontLeftMotor.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
-        backLeftMotor.setDirection(BACK_LEFT_MOTOR_DIRECTION);
-        frontRightMotor.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
-        backRightMotor.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
-
-        currentGamepad1 = new Gamepad();
-        previousGamepad1 = new Gamepad();
-        currentGamepad2 = new Gamepad();
-        previousGamepad2 = new Gamepad();
-    }
-
-    public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
-//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();
-        }
-
-
+        this.runMode = new DevTeleopRunModeCompetition(hardwareMap, telemetry, gamepad1, gamepad2);
+        this.runMode.init();
     }
 
     @Override
     public void loop() {
-        previousGamepad1.copy(currentGamepad1);
-        currentGamepad1.copy(gamepad1);
-        previousGamepad2.copy(currentGamepad2);
-        currentGamepad2.copy(gamepad2);
-
-
-        theDrop(arm, wrist);
-        thePickup(claw);
-       // theLift(arm, wrist);
-        theLowBucketScore(lift, wrist, arm);
-        theHighBucketScore(lift, wrist, arm);
-        theTravel(lift, arm, wrist);
-
-        double max;
-
-        // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
-        double axial   = -gamepad1.left_stick_y;  // Note: pushing stick forward gives negative value
-        double lateral =  gamepad1.left_stick_x;
-        double yaw     =  gamepad1.right_stick_x;
-
-        // Combine the joystick requests for each axis-motion to determine each wheel's power.
-        // Set up a variable for each drive wheel to save the power level for telemetry.
-        double leftFrontPower  = axial + lateral + yaw;
-        double rightFrontPower = axial - lateral - yaw;
-        double leftBackPower   = axial - lateral + yaw;
-        double rightBackPower  = axial + lateral - yaw;
-
-        // Normalize the values so no wheel power exceeds 100%
-        // This ensures that the robot maintains the desired motion.
-        max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
-        max = Math.max(max, Math.abs(leftBackPower));
-        max = Math.max(max, Math.abs(rightBackPower));
-
-        if (max > 1.0) {
-            leftFrontPower  /= max;
-            rightFrontPower /= max;
-            leftBackPower   /= max;
-            rightBackPower  /= max;
-        }
-
-
-        // Send calculated power to wheels
-        frontLeftMotor.setPower(leftFrontPower * MAX_POWER);
-        frontRightMotor.setPower(rightFrontPower * MAX_POWER);
-        backLeftMotor.setPower(leftBackPower * MAX_POWER);
-        backRightMotor.setPower(rightBackPower * MAX_POWER);
-
-        // Show the elapsed game time and wheel power.
-        telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
-        telemetry.addData("Back  left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
-        telemetry.addData("Current Lift Position", lift.getPosition());
+        this.runMode.update();
         telemetry.update();
-
     }
 }

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

@@ -48,7 +48,7 @@ public class ArmTest extends LinearOpMode {
         /*
          * Instantiate Arm
          */
-        ArmSubsystem arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
+        ArmSubsystem arm = new ArmSubsystem(hardwareMap, telemetry);
 
         /*
          * Instantiate gamepad state holders
@@ -67,11 +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) {

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

@@ -48,7 +48,7 @@ public class ClawTest extends LinearOpMode {
         /*
          * Instantiate Claw
          */
-        ClawSubsystem claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.OPEN);
+        ClawSubsystem claw = new ClawSubsystem(hardwareMap, telemetry);
 
         /*
          * 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")
-public class LiftRawTest extends LinearOpMode {
+import org.firstinspires.ftc.teamcode.subsystem.ArmActionsSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.LiftActionsSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.WristActionsSubsystem;
+
+@TeleOp(name = "Lift Wrist Arm Test", group = "Debug")
+public class LiftWristArmTest extends LinearOpMode {
 
-    // Declare OpMode members for each of the 4 motors.
     private final ElapsedTime runtime = new ElapsedTime();
 
-    private final int MIN_POINT = 0;
-    private final int MAX_POINT = 3700;
-
     @Override
     public void runOpMode() {
 
         /*
          * Instantiate Lift
          */
-        DcMotor liftDrive = hardwareMap.get(DcMotor.class, "lift-motor");
-        liftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
-        liftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
+        LiftActionsSubsystem lift = new LiftActionsSubsystem(hardwareMap);
+        WristActionsSubsystem wrist = new WristActionsSubsystem(hardwareMap);
+        ArmActionsSubsystem arm = new ArmActionsSubsystem(hardwareMap);
 
         /*
          * 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.square && !previousGamepad1.square) {
-                liftDrive.setTargetPosition(MIN_POINT);
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            if (currentGamepad1.dpad_down && !previousGamepad1.dpad_down) {
+                arm.setPosition(arm.getPosition() - .05);
             }
 
             if (currentGamepad1.triangle && !previousGamepad1.triangle) {
-                liftDrive.setTargetPosition(1500);
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            }
-
-            if (currentGamepad1.circle && !previousGamepad1.circle) {
-                liftDrive.setTargetPosition(2750);
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+                wrist.setPosition(wrist.getPosition() + .05);
             }
 
             if (currentGamepad1.cross && !previousGamepad1.cross) {
-                liftDrive.setTargetPosition(MAX_POINT);
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
-            }
-
-            if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
-                int newPosition = liftDrive.getCurrentPosition() - 125;
-                if (newPosition < MIN_POINT) {
-                    liftDrive.setTargetPosition(MIN_POINT);
-                } else {
-                    liftDrive.setTargetPosition(newPosition);
-                }
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+                wrist.setPosition(wrist.getPosition() - .05);
             }
 
             if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
-                int newPosition = liftDrive.getCurrentPosition() + 125;
-                if (newPosition > MAX_POINT) {
-                    liftDrive.setTargetPosition(MAX_POINT);
-                } else {
-                    liftDrive.setTargetPosition(newPosition);
-                }
-                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+                lift.setPosition(lift.getPosition() + 175);
+            }
+
+            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

@@ -29,11 +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.WristActionsSubsystem;
 import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
 
 @TeleOp(name = "Wrist Test", group = "Debug")
@@ -48,7 +50,7 @@ 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 +69,11 @@ 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 static double clawOpen = 0.05;
+    public final static double clawClose = 1.00;
+    public final static double clawOpen = 0.05;
 
-    public static double armEngage = 0.5;
-    public static double armPark = 0.125;
-    public static double armBucket = 0.175;
+    public final static double armFloor = 0.45;
+    public final static double armSubmarine = 0.375;
+    public final static double armPark = 0.0;
+    public final static double armBucket = 0.15;
 
-    public static double wristFloor = 0.625;
-    public static double wristBucket = 0.215;
-    public static int liftToFloorPos = 20;
-    public static int liftToFloatPos = 150;
-    public static int liftToLowBucketPos = 2250;
-    public static int liftToHighBucketPos = 3900;
-    public static double liftPower = .45;
-    public static int liftToHoverState = 60;
+    public final static double wristFloor = 0.7;
+    public final static double wristBucket = 0.35;
+
+    public final static int liftToFloorPos = 0;
+    public final static int liftToSubmarinePos = 250;
+    public final static int liftToLowBucketPos = 2250;
+    public final static int liftToHighBucketPos = 3850;
+    public final static double liftPower = .625;
 }

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

@@ -36,9 +36,9 @@ public class Auto {
     public int caseState = 1;
 
     public Auto(HardwareMap hardwareMap, Telemetry telemetry, Follower follower) {
-        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
-        arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
-        wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
+        claw = new ClawSubsystem(hardwareMap, telemetry);
+        arm = new ArmSubsystem(hardwareMap, telemetry);
+        wrist = new WristSubsystem(hardwareMap, telemetry);
 
         this.follower = follower;
         this.telemetry = telemetry;
@@ -77,13 +77,13 @@ public class Auto {
                 break;
             case 2:
                 if (clawTimer.getElapsedTimeSeconds() > 2) {
-                    arm.engageArm();
+                    arm.toFloorPosition();
                     caseState = 3;
                 }
                 break;
             case 3:
                 if (armTimer.getElapsedTimeSeconds() > 4) {
-                    wrist.floorWrist();
+                    wrist.toFloorPosition();
                     caseState = 4;
                 }
                 break;
@@ -95,8 +95,8 @@ public class Auto {
                 break;
             case 5:
                 if (armTimer.getElapsedTimeSeconds() > 8) {
-                    arm.bucketArm();
-                    wrist.bucketWrist();
+                    arm.toBucketPosition();
+                    wrist.toBucketPosition();
                     caseState = 6;
                 }
                 break;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/runmodes/CometBotTeleopCompetition.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 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(.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/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

@@ -36,7 +36,7 @@ public class Teleop {
 
     public Teleop(HardwareMap hardwareMap, Telemetry telemetry, Follower follower, Gamepad gamepad1) {
 
-        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
+        claw = new ClawSubsystem(hardwareMap, telemetry);
         initMotors(hardwareMap);
 
         this.follower = follower;

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 +1,88 @@
+package org.firstinspires.ftc.teamcode.subsystem;
+
+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-servo");
+    }
+
+    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;
-    public ArmState state;
-    public RunAction engageArm, parkArm, bucketArm;
+    private ServoImplEx arm;
+    private ArmState state;
+    public RunAction toFloorPosition, toParkPosition, toBucketPosition;
+    private Telemetry telemetry;
 
-    public ArmSubsystem(HardwareMap hardwareMap, ArmState armState) {
-        arm = hardwareMap.get(ServoImplEx.class, "arm-servo");
-        arm.resetDeviceConfigurationForOpMode();
-
-        this.state = armState;
-
-        parkArm = new RunAction(this::parkArm);
-        engageArm = new RunAction(this::engageArm);
-        bucketArm = new RunAction(this::bucketArm);
+    public ArmSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
+        this.arm = hardwareMap.get(ServoImplEx.class, "arm-servo");
+        this.toParkPosition = new RunAction(this::toParkPosition);
+        this.toFloorPosition = new RunAction(this::toFloorPosition);
+        this.toBucketPosition = new RunAction(this::toBucketPosition);
+        this.telemetry = telemetry;
     }
 
     public void setState(ArmState armState) {
-        if (armState == ArmState.ENGAGE) {
-            arm.setPosition(armEngage);
-            this.state = ArmState.ENGAGE;
+        if (armState == ArmState.FLOOR) {
+            this.arm.setPosition(armFloor);
         } else if (armState == ArmState.PARK) {
-            arm.setPosition(armPark);
-            this.state = ArmState.PARK;
+            this.arm.setPosition(armPark);
         } else if (armState == ArmState.BUCKET) {
-            arm.setPosition(armBucket);
-            this.state = ArmState.BUCKET;
+            this.arm.setPosition(armBucket);
         }
+        this.state = armState;
     }
 
-    public void engageArm() {
-        setState(ArmState.ENGAGE);
+    public void toFloorPosition() {
+        this.setState(ArmState.FLOOR);
     }
 
-    public void parkArm() {
-        setState(ArmState.PARK);
+    public void toParkPosition() {
+        this.setState(ArmState.PARK);
     }
 
-    public void bucketArm() {
-        setState(ArmState.BUCKET);
+    public void toBucketPosition() {
+        this.setState(ArmState.BUCKET);
     }
 
     public void switchState() {
-        if (state == ArmState.ENGAGE) {
-            setState(ArmState.PARK);
-        } else if (state == ArmState.PARK) {
-            setState(ArmState.BUCKET);
-        } else if (state == ArmState.BUCKET) {
-            setState(ArmState.ENGAGE);
+        if (this.state == ArmState.FLOOR) {
+            this.setState(ArmState.PARK);
+        } else if (this.state == ArmState.PARK) {
+            this.setState(ArmState.BUCKET);
+        } else if (this.state == ArmState.BUCKET) {
+            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 +1,81 @@
+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 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-servo");
+    }
+
+    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("Arm 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) {
-        claw = hardwareMap.get(Servo.class, "claw-servo");
-        this.state = clawState;
-
-        openClaw = new RunAction(this::openClaw);
-        closeClaw = new RunAction(this::closeClaw);
+    public ClawSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
+        this.claw = hardwareMap.get(Servo.class, "claw-servo");
+        this.openClaw = new RunAction(this::openClaw);
+        this.closeClaw = new RunAction(this::closeClaw);
+        this.telemetry = telemetry;
     }
 
     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 +1,102 @@
+package org.firstinspires.ftc.teamcode.subsystem;
+
+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-motor");
+    }
+
+    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) {
@@ -115,8 +117,8 @@ public class MotorsSubsystem {
 
         // Show the elapsed game time and wheel power.
         this.telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
-        this.telemetry.addData("Back  left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
-        this.telemetry.update();
+        this.telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
+        this.telemetry.addData("Current State", this.getState());
     }
 
     public void setState(TravelState travelState) {
@@ -127,4 +129,12 @@ public class MotorsSubsystem {
         return this.travelState;
     }
 
+    public void setPower(DcMotor motor, double power) {
+        motor.setPower(power);
+        if (power < 0.05) {
+            this.setState(TravelState.MOVING);
+        } else {
+            this.setState(TravelState.STOPPED);
+        }
+    }
 }

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

@@ -6,6 +6,7 @@ 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 +18,30 @@ 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) {
-        wrist = hardwareMap.get(ServoImplEx.class, "wrist-servo");
-        wrist.resetDeviceConfigurationForOpMode();
-
-        this.state = wristState;
-
-        bucketWrist = new RunAction(this::bucketWrist);
-        floorWrist = new RunAction(this::floorWrist);
+    public WristSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
+        this.wrist = hardwareMap.get(ServoImplEx.class, "wrist-servo");
+        this.telemetry = telemetry;
+        toBucketPosition = new RunAction(this::toBucketPosition);
+        toFloorPosition = new RunAction(this::toFloorPosition);
     }
 
     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 +58,12 @@ 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 boolean isFinished = false;
+    private double dt;
+    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) {
-            Timer timer = new Timer();
-            timer.schedule(new TimerTask() {
-                @Override
-                public void run() {
-                    isFinished = true;
-                }
-            }, (long) (dt * 1000));
+        double t;
+        if (beginTs < 0) {
+            beginTs = now();
+            t = 0.0;
         } else {
-            isFinished = false; // Reset the flag after sleep is complete
-            return false; // Indicate that the action is finished
+            t = now() - beginTs;
         }
-        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"
 
+}