Fine tuning to autonomous prior to switching to new robot

overtime

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

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

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

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

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAutoWithDrop2.java

@@ -0,0 +1,57 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
+
+@Autonomous(name = "Auto Test2", group = "Dev")
+public class BlueBasketAutoWithDrop2 extends OpMode {
+    private Telemetry telemetryA;
+
+    private Follower follower;
+
+    private PathChain path;
+
+    private final Pose startPose = new Pose(16, 128);
+
+    @Override
+    public void init() {
+        follower = new Follower(hardwareMap);
+
+        follower.setMaxPower(.75);
+
+        follower.setStartingPose(startPose);
+
+        path = follower.pathBuilder()
+
+                .addPath(
+                        // Line 1
+                        new BezierCurve(
+                                new Point(16.000, 128.000, Point.CARTESIAN),
+                                new Point(88.000, 140.000, Point.CARTESIAN),
+                                new Point(83.250, 99.000, Point.CARTESIAN)
+                        )
+                )
+                .setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(270)).build();
+
+        follower.followPath(path);
+
+        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+        telemetryA.update();
+    }
+
+
+    @Override
+    public void loop() {
+        follower.update();
+        follower.telemetryDebug(telemetryA);
+    }
+}

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

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

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CONTROLS.md

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

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

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

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

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

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

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

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

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

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

@@ -8,39 +8,78 @@ import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
 public class PedroConstants {
 
     /*
-        Robot parameters
+        Motor configuration names
     */
+    public static final String FRONT_LEFT_MOTOR = "front-left";
+    public static final String BACK_LEFT_MOTOR = "back-left";
+    public static final String FRONT_RIGHT_MOTOR = "front-right";
+    public static final String BACK_RIGHT_MOTOR = "back-right";
 
-    // Robot motor configurations
+    /*
-    public static final String FRONT_LEFT_MOTOR = "Drive front lt";
+        Motor directions
-    public static final String BACK_LEFT_MOTOR  = "Drive back lt";
+     */
-    public static final String FRONT_RIGHT_MOTOR  = "Drive front rt";
-    public static final String BACK_RIGHT_MOTOR  = "Drive back rt";
-
-    // Robot motor direction
     public static final Direction FRONT_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
     public static final Direction BACK_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
     public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
     public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
 
-    // Robot IMU configuration
+    /*
-    public static final String IMU = "imu";
+        Centricity : true is robot-centric movement; false if field-centric movement
+     */
+    public static final boolean CENTRICITY = true;
 
-    // Robot IMU placement
+    /*
+        Motor Max Power
+     */
+    public static final double MAX_POWER = .8;
+
+    /*
+        IMU
+     */
+    public static final String IMU = "imu";
     public static final RevHubOrientationOnRobot.LogoFacingDirection IMU_LOGO_FACING_DIRECTION
             = RevHubOrientationOnRobot.LogoFacingDirection.DOWN;
     public static final RevHubOrientationOnRobot.UsbFacingDirection IMU_USB_FACING_DIRECTION
             = RevHubOrientationOnRobot.UsbFacingDirection.LEFT;
 
-    // Robot encoders
+    /*
-    public static final String LEFT_ENCODER = "encoder left";
+        Dead wheels
-    public static final String RIGHT_ENCODER = "encoder right";
+     */
-    public static final String BACK_ENCODER = "encoder back";
+    public static final String RIGHT_ENCODER = "back-right";
+    public static final String BACK_ENCODER = "front-right";
+    public static final String LEFT_ENCODER = "front-left";
 
-    // Robot encoder direction
+    /*
+        Dead wheel directions
+     */
     public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;
     public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD;
-    public static final double BACK_ENCODER_DIRECTION = Encoder.REVERSE;
+    public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD;
+
+    /*
+        Arm configuration name
+     */
+    public static final String ARM_NAME = "arm-servo";
+
+    /*
+        Claw configuration name
+     */
+    public static final String CLAW_NAME = "claw-servo";
+
+    /*
+        Lift configuration name
+     */
+    public static final String LIFT_NAME = "lift-motor";
+
+    /*
+        Wrist configuration name
+     */
+    public static final String WRIST_NAME = "wrist-servo";
+
+    /*
+        Skyhook configuration name
+     */
+    public static final String SKYHOOK_NAME = "skyhook";
 
     /*
         Pedro's parameters
@@ -50,21 +89,21 @@ public class PedroConstants {
     public static final double ROBOT_WEIGHT_IN_KG = 10.5;
 
     // Maximum velocity of the robot going forward
-    public static final double ROBOT_SPEED_FORWARD = 72.0693;
+    public static final double ROBOT_SPEED_FORWARD = 51.4598;
 
     // Maximum velocity of the robot going right
-    public static final double ROBOT_SPEED_LATERAL = 24.1401;
+    public static final double ROBOT_SPEED_LATERAL = 28.7119;
 
     // Rate of deceleration when power is cut-off when the robot is moving forward
-    public static final double FORWARD_ZERO_POWER_ACCEL = -74.3779;
+    public static final double FORWARD_ZERO_POWER_ACCEL = -59.805;
 
     // Rate of deceleration when power is cut-off when the robot is moving to the right
-    public static final double LATERAL_ZERO_POWER_ACCEL = -111.8409;
+    public static final double LATERAL_ZERO_POWER_ACCEL = -99.672;
 
     // Determines how fast your robot will decelerate as a factor of how fast your robot will coast to a stop
-    public static final double ZERO_POWER_ACCEL_MULT = 4;
+    public static final double ZERO_POWER_ACCEL_MULT = 3.5;
 
     /* Centripetal force correction - increase if robot is correcting into the path
                                     - decrease if robot is correcting away from the path */
-    public static final double CENTRIPETAL_SCALING = 0.0005;
+    public static final double CENTRIPETAL_SCALING = 0.0004;
 }

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

@@ -0,0 +1,124 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
+
+
+@Autonomous(name = "Pre Loaded Blue Basket Auto", group = "Competition")
+public class PreLoadedBlueBasketAuto extends OpMode {
+    private Telemetry telemetryA;
+
+    private Follower follower;
+
+    private PathChain path;
+
+    private final Pose startPose = new Pose(7.875, 89.357);
+
+    @Override
+    public void init() {
+        follower = new Follower(hardwareMap);
+
+        follower.setMaxPower(.45);
+
+        follower.setStartingPose(startPose);
+
+        path = follower.pathBuilder()
+                .addPath(
+                        // Line 1
+                        new BezierLine(
+                                new Point(8, 89, Point.CARTESIAN),
+                                new Point(10.125, 126.804, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 2
+                        new BezierCurve(
+                                new Point(10.125, 126.804, Point.CARTESIAN),
+                                new Point(37.607, 90.000, Point.CARTESIAN),
+                                new Point(62.357, 119.893, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 3
+                        new BezierCurve(
+                                new Point(62.357, 119.893, Point.CARTESIAN),
+                                new Point(33.750, 112.500, Point.CARTESIAN),
+                                new Point(15.107, 130.661, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 4
+                        new BezierCurve(
+                                new Point(15.107, 130.661, Point.CARTESIAN),
+                                new Point(58.821, 103.018, Point.CARTESIAN),
+                                new Point(59.625, 126.964, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 5
+                        new BezierLine(
+                                new Point(59.625, 126.964, Point.CARTESIAN),
+                                new Point(15.107, 130.339, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 6
+                        new BezierLine(
+                                new Point(15.107, 130.339, Point.CARTESIAN),
+                                new Point(59.625, 126.964, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 7
+                        new BezierLine(
+                                new Point(59.625, 126.964, Point.CARTESIAN),
+                                new Point(57.857, 131.071, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 8
+                        new BezierLine(
+                                new Point(57.857, 131.071, Point.CARTESIAN),
+                                new Point(18.964, 131.679, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 9
+                        new BezierCurve(
+                                new Point(18.964, 134.679, Point.CARTESIAN),
+                                new Point(84.536, 131.786, Point.CARTESIAN),
+                                new Point(80.036, 96.429, Point.CARTESIAN)
+                        )
+                )
+                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270)).build();
+        follower.followPath(path);
+
+        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+        telemetryA.update();
+    }
+
+    @Override
+    public void loop() {
+        follower.update();
+        follower.telemetryDebug(telemetryA);
+
+    }
+}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -71,7 +71,9 @@ measurements will be in centimeters.
   of how fast your robot will coast to a stop. Honestly, this is up to you. I personally used 4, but
   what works best for you is most important. Higher numbers will cause a faster brake, but increase
   oscillations at the end. Lower numbers will do the opposite. This can be found on line `107` in
-  `FollowerConstants`, named `zeroPowerAccelerationMultiplier`. The drive PID is much, much more sensitive than the others. For reference,
+  `FollowerConstants`, named `zeroPowerAccelerationMultiplier`. 
+
+* The drive PID is much, much more sensitive than the others. For reference,
   my P values were in the hundredths and thousandths place values, and my D values were in the hundred
   thousandths and millionths place values. To tune this, enable `useDrive`, `useHeading`, and
   `useTranslational` in the `Follower` dropdown in FTC Dashboard. Next, run `StraightBackAndForth`

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/follower/Follower.java

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

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

@@ -5,6 +5,7 @@ import com.qualcomm.robotcore.hardware.HardwareMap;
 import com.qualcomm.robotcore.hardware.IMU;
 
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.DriveEncoderLocalizer;
 import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.ThreeWheelIMULocalizer;
 import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.ThreeWheelLocalizer;
 import org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers.TwoWheelLocalizer;
@@ -69,7 +70,8 @@ public class PoseUpdater {
      */
     public PoseUpdater(HardwareMap hardwareMap) {
         // TODO: replace the second argument with your preferred localizer
-        this(hardwareMap, new ThreeWheelIMULocalizer(hardwareMap));
+        this(hardwareMap, new ThreeWheelLocalizer(hardwareMap));
+//        this(hardwareMap, new ThreeWheelIMULocalizer(hardwareMap));
     }
 
     /**

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

@@ -38,9 +38,9 @@ public class DriveEncoderLocalizer extends Localizer {
     private Encoder leftRear;
     private Encoder rightRear;
     private double totalHeading;
-    public static double FORWARD_TICKS_TO_INCHES = 1;
+    public static double FORWARD_TICKS_TO_INCHES = -0.6308;
-    public static double STRAFE_TICKS_TO_INCHES = 1;
+    public static double STRAFE_TICKS_TO_INCHES = 46.4839;
-    public static double TURN_TICKS_TO_RADIANS = 1;
+    public static double TURN_TICKS_TO_RADIANS = -0.002;
     public static double ROBOT_WIDTH = 1;
     public static double ROBOT_LENGTH = 1;
 

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

@@ -57,9 +57,12 @@ public class ThreeWheelLocalizer extends Localizer {
     private Pose rightEncoderPose;
     private Pose strafeEncoderPose;
     private double totalHeading;
-    public static double FORWARD_TICKS_TO_INCHES = 0.00052189;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
+//    public static double FORWARD_TICKS_TO_INCHES = 0.00052189;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
-    public static double STRAFE_TICKS_TO_INCHES = 0.00052189;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
+    public static double FORWARD_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
-    public static double TURN_TICKS_TO_RADIANS = 0.00053717;//8192 * 1.37795 * 2 * Math.PI * 0.5;
+//    public static double STRAFE_TICKS_TO_INCHES = 0.00052189;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
+    public static double STRAFE_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
+//    public static double TURN_TICKS_TO_RADIANS = 0.00053717;//8192 * 1.37795 * 2 * Math.PI * 0.5;
+    public static double TURN_TICKS_TO_RADIANS = 0.003;//8192 * 1.37795 * 2 * Math.PI * 0.5;
 
     /**
      * This creates a new ThreeWheelLocalizer from a HardwareMap, with a starting Pose at (0,0)
@@ -80,9 +83,9 @@ public class ThreeWheelLocalizer extends Localizer {
      */
     public ThreeWheelLocalizer(HardwareMap map, Pose setStartPose) {
         // TODO: replace these with your encoder positions
-        leftEncoderPose = new Pose(-18.5/25.4 - 0.1, 164.4/25.4, 0);
+        leftEncoderPose = new Pose(0, 6.19375, 0);
-        rightEncoderPose = new Pose(-18.4/25.4 - 0.1, -159.6/25.4, 0);
+        rightEncoderPose = new Pose(0, -6.19375, 0);
-        strafeEncoderPose = new Pose(0*(-107.9/25.4+8)+-107.9/25.4+0.25, -1.1/25.4-0.23, Math.toRadians(90));
+        strafeEncoderPose = new Pose(-7, 0, Math.toRadians(90));
 
         hardwareMap = map;
 
@@ -92,9 +95,9 @@ public class ThreeWheelLocalizer extends Localizer {
         strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
 
         // TODO: reverse any encoders necessary
-        //leftEncoder.setDirection(Encoder.REVERSE);
+        leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
-       // rightEncoder.setDirection(Encoder.REVERSE);
+        rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
-        //strafeEncoder.setDirection(Encoder.FORWARD);
+        strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
 
         setStartPose(setStartPose);
         timer = new NanoTimer();

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

@@ -63,6 +63,7 @@ public class LateralTuner extends OpMode {
         telemetryA.addData("distance moved", poseUpdater.getPose().getY());
         telemetryA.addLine("The multiplier will display what your strafe ticks to inches should be to scale your current distance to " + DISTANCE + " inches.");
         telemetryA.addData("multiplier", DISTANCE / (poseUpdater.getPose().getY() / poseUpdater.getLocalizer().getLateralMultiplier()));
+
         telemetryA.update();
 
         Drawing.drawPoseHistory(dashboardPoseTracker, "#4CAF50");

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

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

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

@@ -42,7 +42,7 @@ public class FollowerConstants {
     public static CustomPIDFCoefficients translationalPIDFCoefficients = new CustomPIDFCoefficients(
             0.1,
             0,
-            0,
+            0.01,
             0);
 
     // Translational Integral
@@ -58,9 +58,9 @@ public class FollowerConstants {
 
     // Heading error PIDF coefficients
     public static CustomPIDFCoefficients headingPIDFCoefficients = new CustomPIDFCoefficients(
-            1,
+            2,
-            0,
             0,
+            .025,
             0);
 
     // Feed forward constant added on to the heading PIDF
@@ -69,10 +69,10 @@ public class FollowerConstants {
 
     // Drive PIDF coefficients
     public static CustomFilteredPIDFCoefficients drivePIDFCoefficients = new CustomFilteredPIDFCoefficients(
-            0.025,
+            0.006,
             0,
             0.00001,
-            0.6,
+            0.8,
             0);
 
     // Feed forward constant added on to the drive PIDF
@@ -81,7 +81,7 @@ public class FollowerConstants {
     // Kalman filter parameters for the drive error Kalman filter
     public static KalmanFilterParameters driveKalmanFilterParameters = new KalmanFilterParameters(
             6,
-            1);
+            3);
 
 
     // Mass of robot in kilograms

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

@@ -119,6 +119,13 @@ public class LateralZeroPowerAccelerationTuner extends OpMode {
      */
     @Override
     public void loop() {
+
+        telemetry.addData("x",poseUpdater.getPose().getX());
+        telemetry.addData("y",poseUpdater.getPose().getY());
+        telemetry.addData("heading",poseUpdater.getPose().getHeading());
+        telemetry.addData("velo mag", poseUpdater.getVelocity().getMagnitude());
+        telemetry.addData("velo theta", poseUpdater.getVelocity().getTheta());
+
         if (gamepad1.cross || gamepad1.a) {
             requestOpModeStop();
         }

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/AutoLine1.java

@@ -0,0 +1,36 @@
+package org.firstinspires.ftc.teamcode.subsystem;
+
+
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
+
+
+/*
+    AutoLine# - This file does something of a path......
+
+ */
+public class AutoLine1 {
+
+    private Pose startPose = new Pose(36, 72);
+
+    public void moveToPath1(Follower robot) {
+        PathChain pathChain;
+        robot.setStartingPose(startPose);
+        PathBuilder builder = new PathBuilder();
+        builder
+                .addPath(
+                        new BezierCurve(
+                                new Point(36.000, 72.000, Point.CARTESIAN),
+                                new Point(37.500, 72.000, Point.CARTESIAN)
+                        )
+                );
+        pathChain = builder.build();
+        robot.followPath(pathChain);
+    }
+
+}
+

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

@@ -0,0 +1,36 @@
+package org.firstinspires.ftc.teamcode.subsystem;
+
+
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
+
+
+/*
+    AutoLine# - This file does something of a path......
+
+ */
+public class AutoPark {
+
+
+    public void moveToPark(Follower robot) {
+        PathChain pathChain;
+        PathBuilder builder = new PathBuilder();
+        builder
+                .addPath(
+                        new BezierCurve(
+                                new Point(18.000, 126.000, Point.CARTESIAN),
+                                new Point(85.000, 132.750, Point.CARTESIAN),
+                                new Point(84.000, 97.000, Point.CARTESIAN)
+                        )
+                )
+                .setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(135));
+        pathChain = builder.build();
+        robot.followPath(pathChain);
+    }
+
+}
+

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

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

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

@@ -0,0 +1,38 @@
+package org.firstinspires.ftc.teamcode.subsystem;
+
+
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
+
+
+/*
+    AutoLine# - This file does something of a path......
+
+ */
+public class HighBasketAutoPath1 {
+
+    private final Pose startPose = new Pose(8, 89);
+
+    public void moveToPath1(Follower robot) {
+        PathChain pathChain;
+        robot.setStartingPose(startPose);
+        PathBuilder builder = new PathBuilder();
+        builder
+                .addPath(
+                        new BezierCurve(
+                                new Point(8.000, 89.000, Point.CARTESIAN),
+                                new Point(24.000, 96.000, Point.CARTESIAN),
+                                new Point(18.000, 126.000, Point.CARTESIAN)
+                        )
+                )
+                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(135));
+        pathChain = builder.build();
+        robot.followPath(pathChain);
+    }
+
+}
+

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

@@ -0,0 +1,36 @@
+package org.firstinspires.ftc.teamcode.subsystem;
+
+
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
+
+
+/*
+    AutoLine# - This file does something of a path......
+
+ */
+public class HighBasketAutoPath2 {
+    
+    public void moveToPath2(Follower robot) {
+        PathChain pathChain;
+        PathBuilder builder = new PathBuilder();
+        builder
+                .addPath(
+                        // Line 1
+                        new BezierLine(
+                                new Point(18.000, 126.000, Point.CARTESIAN),
+                                new Point(25.500, 120.000, Point.CARTESIAN)
+                        )
+                )
+                .setLinearHeadingInterpolation(Math.toRadians(135), Math.toRadians(0));
+        pathChain = builder.build();
+        robot.followPath(pathChain);
+    }
+
+}
+

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

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

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

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

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

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

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

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

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

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

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

@@ -0,0 +1,140 @@
+package org.firstinspires.ftc.teamcode.subsystem;
+
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.Gamepad;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+
+public class MotorsSubsystem {
+
+    public HardwareMap hardwareMap;
+    public Telemetry telemetry;
+
+    public DcMotor frontLeftMotor;
+    public DcMotor backLeftMotor;
+    public DcMotor frontRightMotor;
+    public DcMotor backRightMotor;
+
+    public enum TravelState {
+        STOPPED, MOVING
+    }
+
+    public TravelState travelState;
+
+    public double power;
+
+    public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
+        this.hardwareMap = hardwareMap;
+        this.telemetry = telemetry;
+        this.power = 1.0;
+    }
+
+    public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry, double power) {
+        this.hardwareMap = hardwareMap;
+        this.telemetry = telemetry;
+        this.power = power;
+    }
+
+    public void init() {
+        frontLeftMotor = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
+        backLeftMotor = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
+        frontRightMotor = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
+        backRightMotor = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
+
+        frontLeftMotor.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
+        backLeftMotor.setDirection(BACK_LEFT_MOTOR_DIRECTION);
+        frontRightMotor.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
+        backRightMotor.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
+
+        frontLeftMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        backLeftMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        frontRightMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        backRightMotor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        this.setState(TravelState.STOPPED);
+    }
+
+    public void setFrontLeftMotorPower(double power) {
+        frontLeftMotor.setPower(power);
+    }
+
+    public void setBackLeftMotorPower(double power) {
+        backLeftMotor.setPower(power);
+    }
+
+    public void setFrontRightMotorPower(double power) {
+        frontRightMotor.setPower(power);
+    }
+
+    public void setBackRightMotorPower(double power) {
+        backRightMotor.setPower(power);
+    }
+
+    public void calculateTrajectory(Gamepad gamepad1) {
+        double max;
+
+        // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
+        double axial = -gamepad1.left_stick_y;  // Note: pushing stick forward gives negative value
+        double lateral = gamepad1.left_stick_x;
+        double yaw = gamepad1.right_stick_x;
+
+        // Combine the joystick requests for each axis-motion to determine each wheel's power.
+        // Set up a variable for each drive wheel to save the power level for telemetry.
+        double leftFrontPower = axial + lateral + yaw;
+        double leftBackPower = axial - lateral + yaw;
+
+        double rightFrontPower = axial - lateral - yaw;
+        double rightBackPower = axial + lateral - yaw;
+
+        // Normalize the values so no wheel power exceeds 100%
+        // This ensures that the robot maintains the desired motion.
+        max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
+        max = Math.max(max, Math.abs(leftBackPower));
+        max = Math.max(max, Math.abs(rightBackPower));
+
+        if (max > 1.0) {
+            leftFrontPower /= max;
+            rightFrontPower /= max;
+            leftBackPower /= max;
+            rightBackPower /= max;
+        }
+
+        // Send calculated power to wheels
+        this.setFrontLeftMotorPower(leftFrontPower * this.power);
+        this.setFrontRightMotorPower(rightFrontPower * this.power);
+        this.setBackLeftMotorPower(leftBackPower * this.power);
+        this.setBackRightMotorPower(rightBackPower * this.power);
+
+        // Show the elapsed game time and wheel power.
+        this.telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
+        this.telemetry.addData("Back left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
+        this.telemetry.addData("Current State", this.getState());
+    }
+
+    public void setState(TravelState travelState) {
+        this.travelState = travelState;
+    }
+
+    public TravelState getState() {
+        return this.travelState;
+    }
+
+    public void setPower(DcMotor motor, double power) {
+        motor.setPower(power);
+        if (power < 0.05) {
+            this.setState(TravelState.MOVING);
+        } else {
+            this.setState(TravelState.STOPPED);
+        }
+    }
+}

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

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

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

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

build.dependencies.gradle

@@ -6,16 +6,19 @@ repositories {
 }
 
 dependencies {
-    implementation 'org.firstinspires.ftc:Inspection:10.0.0'
+    implementation 'org.firstinspires.ftc:Inspection:10.1.0'
-    implementation 'org.firstinspires.ftc:Blocks:10.0.0'
+    implementation 'org.firstinspires.ftc:Blocks:10.1.0'
-    implementation 'org.firstinspires.ftc:RobotCore:10.0.0'
+    implementation 'org.firstinspires.ftc:RobotCore:10.1.0'
-    implementation 'org.firstinspires.ftc:RobotServer:10.0.0'
+    implementation 'org.firstinspires.ftc:RobotServer:10.1.0'
-    implementation 'org.firstinspires.ftc:OnBotJava:10.0.0'
+    implementation 'org.firstinspires.ftc:OnBotJava:10.1.0'
-    implementation 'org.firstinspires.ftc:Hardware:10.0.0'
+    implementation 'org.firstinspires.ftc:Hardware:10.1.0'
-    implementation 'org.firstinspires.ftc:FtcCommon:10.0.0'
+    implementation 'org.firstinspires.ftc:FtcCommon:10.1.0'
-    implementation 'org.firstinspires.ftc:Vision:10.0.0'
+    implementation 'org.firstinspires.ftc:Vision:10.1.0'
     implementation 'androidx.appcompat:appcompat:1.2.0'
 
-    implementation 'com.acmerobotics.dashboard:dashboard:0.4.5'
+    implementation "com.acmerobotics.roadrunner:ftc:0.1.14"
-}
+    implementation "com.acmerobotics.roadrunner:core:1.0.0"
+    implementation "com.acmerobotics.roadrunner:actions:1.0.0"
+    implementation "com.acmerobotics.dashboard:dashboard:0.4.16"
 
+}