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

@@ -1,11 +1,9 @@
-package org.firstinspires.ftc.teamcode.cometbots.projects;
+package org.firstinspires.ftc.teamcode;
 
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 
 import org.firstinspires.ftc.robotcore.external.Telemetry;
 import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
@@ -15,147 +13,149 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
 
-/**
- * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
- * a circle, but some Bezier curves that have control points set essentially in a square. However,
- * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
- * heading is to be expected.
- *
- * @author Anyi Lin - 10158 Scott's Bots
- * @author Aaron Yang - 10158 Scott's Bots
- * @author Harrison Womack - 10158 Scott's Bots
- * @version 1.0, 3/12/2024
- */
-@Config
-@Autonomous(name = "BlueBasketAuto", group = "Autonomous Pathing Tuning")
-public class BlueBasketAuto extends OpMode {
+@Autonomous(name = "Blue Non Basket Auto", group = "Competition")
+public class BlueNonBasketAuto extends OpMode {
     private Telemetry telemetryA;
 
     private Follower follower;
 
     private PathChain path;
 
-    private final Pose startPose = new Pose(11.25, 95.75, 0);
+    private PathChain path2;
+
+    private final Pose startPose = new Pose(8.000, 55.000);
 
-    /**
-     * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
-     * initializes the FTC Dashboard telemetry.
-     */
     @Override
     public void init() {
         follower = new Follower(hardwareMap);
 
-        follower.setMaxPower(.45);
+        follower.setMaxPower(.6);
 
         follower.setStartingPose(startPose);
 
         path = follower.pathBuilder()
                 .addPath(
                         // Line 1
-                        new BezierLine(
-                                new Point(11.250, 95.750, Point.CARTESIAN),
-                                new Point(37.000, 108.000, Point.CARTESIAN)
+                        new BezierCurve(
+                                new Point(8.000, 55.000, Point.CARTESIAN),
+                                new Point(27.482, 33.750, Point.CARTESIAN),
+                                new Point(62.357, 33.107, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .setConstantHeadingInterpolation(Math.toRadians(0)).build();
+        follower.followPath(path);
+        
+        path2 = follower.pathBuilder()
                 .addPath(
                         // Line 2
-                        new BezierCurve(
-                                new Point(37.000, 108.000, Point.CARTESIAN),
-                                new Point(73.286, 111.536, Point.CARTESIAN),
-                                new Point(67.821, 120.536, Point.CARTESIAN)
+                        new BezierLine(
+                                new Point(62.357, 33.107, Point.CARTESIAN),
+                                new Point(62.000, 27.000, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 3
                         new BezierLine(
-                                new Point(67.821, 120.536, Point.CARTESIAN),
-                                new Point(28.000, 121.500, Point.CARTESIAN)
+                                new Point(62.000, 27.000, Point.CARTESIAN),
+                                new Point(10.000, 27.000, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 4
                         new BezierLine(
-                                new Point(28.000, 121.500, Point.CARTESIAN),
-                                new Point(18.000, 130.179, Point.CARTESIAN)
+                                new Point(10.000, 27.000, Point.CARTESIAN),
+                                new Point(61.875, 27.000, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 5
-                        new BezierCurve(
-                                new Point(18.000, 130.179, Point.CARTESIAN),
-                                new Point(59.000, 102.500, Point.CARTESIAN),
-                                new Point(68.700, 130.500, Point.CARTESIAN)
+                        new BezierLine(
+                                new Point(61.875, 27.000, Point.CARTESIAN),
+                                new Point(61.714, 17.357, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 6
                         new BezierLine(
-                                new Point(68.700, 130.500, Point.CARTESIAN),
-                                new Point(18.000, 130.339, Point.CARTESIAN)
+                                new Point(61.714, 17.357, Point.CARTESIAN),
+                                new Point(14.464, 17.357, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 7
-                        new BezierCurve(
-                                new Point(18.000, 130.339, Point.CARTESIAN),
-                                new Point(49.018, 121.179, Point.CARTESIAN),
-                                new Point(63.804, 135.321, Point.CARTESIAN)
+                        new BezierLine(
+                                new Point(14.464, 17.357, Point.CARTESIAN),
+                                new Point(61.714, 17.357, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 8
                         new BezierLine(
-                                new Point(63.804, 135.321, Point.CARTESIAN),
-                                new Point(53.036, 135.161, Point.CARTESIAN)
+                                new Point(61.714, 17.357, Point.CARTESIAN),
+                                new Point(61.554, 8.000, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 9
                         new BezierLine(
-                                new Point(53.036, 135.161, Point.CARTESIAN),
-                                new Point(18.643, 135.000, Point.CARTESIAN)
+                                new Point(61.554, 8.000, Point.CARTESIAN),
+                                new Point(12.536, 8.196, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 10
-                        new BezierLine(
-                                new Point(18.643, 135.000, Point.CARTESIAN),
-                                new Point(72.300, 97.400, Point.CARTESIAN)
+                        new BezierCurve(
+                                new Point(12.536, 8.196, Point.CARTESIAN),
+                                new Point(52.071, 19.929, Point.CARTESIAN),
+                                new Point(50.786, 33.750, Point.CARTESIAN)
                         )
                 )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
-                        // Line 9
-                        new BezierLine(
-                                new Point(18.643, 135.000, Point.CARTESIAN),
-                                new Point(83.250, 95.464, Point.CARTESIAN)
+                        // Line 11
+                        new BezierCurve(
+                                new Point(50.786, 33.750, Point.CARTESIAN),
+                                new Point(2.571, 39.375, Point.CARTESIAN),
+                                new Point(20.732, 78.911, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 12
+                        new BezierCurve(
+                                new Point(20.732, 78.911, Point.CARTESIAN),
+                                new Point(24.429, 111.054, Point.CARTESIAN),
+                                new Point(46.929, 121.018, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .addPath(
+                        // Line 13
+                        new BezierCurve(
+                                new Point(46.929, 121.018, Point.CARTESIAN),
+                                new Point(68.143, 116.357, Point.CARTESIAN),
+                                new Point(63.000, 97.714, Point.CARTESIAN)
                         )
                 )
                 .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270)).build();
-        follower.followPath(path, true);
+
+        follower.followPath(path2);
 
         telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
         telemetryA.update();
     }
 
-    /**
-     * This runs the OpMode, updating the Follower as well as printing out the debug statements to
-     * the Telemetry, as well as the FTC Dashboard.
-     */
     @Override
     public void loop() {
         follower.update();
-        if (follower.atParametricEnd()) {
-            follower.followPath(path, true);
-        }
         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/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

@@ -1,63 +1,26 @@
 package org.firstinspires.ftc.teamcode;
+
 import com.acmerobotics.roadrunner.Action;
-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 org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
 import org.firstinspires.ftc.teamcode.subsystem.AutoLine1;
-import org.firstinspires.ftc.teamcode.subsystem.AutoLine2;
-import org.firstinspires.ftc.teamcode.subsystem.AutoLine3;
 
 @Autonomous(name = "BlueNetAuto", group = "Dev")
 public class NetAuto extends OpMode {
 
     public Follower follower;
 
-    public AutoLine1 myFirstPath = new AutoLine1();
-    public AutoLine2 mySecondPath = new AutoLine2();
-    public int pathState = 0;
     @Override
     public void init() {
         follower = new Follower(hardwareMap);
-        follower.setMaxPower(0.65);
-        myFirstPath.moveToAutoLine1(follower);
     }
 
     @Override
     public void loop() {
         follower.update();
-        switch(pathState) {
-            case 0:
-                if (!follower.isBusy()) {
-                    pathState = 1;
-                    mySecondPath.moveToAutoLine2(follower);
-                }
-            case 1:
-                if (!follower.isBusy()) {
-                    System.out.println("Finished");
-                }
-        }
-//        switch(pathState) {
-//            case 0:
-//                if (!follower.isBusy()) {
-//                    mySecondPath.moveToAutoLine2(follower);
-//                    pathState = 1;
-//                }
-//            case 1:
-//                if (!follower.isBusy()) {
-//                    pathState = 2;
-//                }
-//            case 2:
-//                // set path 3
-//                // as if busy, if not, set path 4 and so on.
-//                System.out.print("we're at the end");
-//
-//        }
-
-
 
         follower.telemetryDebug(telemetry);
     }

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

@@ -8,70 +8,97 @@ import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
 public class PedroConstants {
 
     /*
-        Robot parameters
+        Motor configuration names
     */
-
-    // Robot motor configurations
     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 direction
+    /*
+        Motor directions
+     */
     public static final Direction FRONT_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
     public static final Direction BACK_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
     public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
     public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
 
+    /*
+        Centricity : true is robot-centric movement; false if field-centric movement
+     */
+    public static final boolean CENTRICITY = true;
+
     /*
         Motor Max Power
      */
-    public static final double MAX_POWER = .75;
+    public static final double MAX_POWER = .8;
 
-    // Robot IMU configuration
+    /*
+        IMU
+     */
     public static final String IMU = "imu";
-
-    // Robot IMU placement
     public static final RevHubOrientationOnRobot.LogoFacingDirection IMU_LOGO_FACING_DIRECTION
-            = RevHubOrientationOnRobot.LogoFacingDirection.LEFT;
+            = RevHubOrientationOnRobot.LogoFacingDirection.DOWN;
     public static final RevHubOrientationOnRobot.UsbFacingDirection IMU_USB_FACING_DIRECTION
-            = RevHubOrientationOnRobot.UsbFacingDirection.UP;
+            = RevHubOrientationOnRobot.UsbFacingDirection.LEFT;
 
-    // Robot encoders
-    // NOTE:  Encoders are plugged into the same ports as motors hence the weird names
-    public static final String RIGHT_ENCODER = "back-right"; //0
-    public static final String BACK_ENCODER = "front-right"; //1
-    public static final String LEFT_ENCODER = "front-left"; //2
+    /*
+        Dead wheels
+     */
+    public static final String RIGHT_ENCODER = "back-right";
+    public static final String BACK_ENCODER = "front-right";
+    public static final String LEFT_ENCODER = "front-left";
 
-    // Robot encoder direction
+    /*
+        Dead wheel directions
+     */
     public static final double LEFT_ENCODER_DIRECTION = Encoder.FORWARD;
     public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD;
     public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD;
 
-    // Arm config
-    public static final String SLIDE_MOTOR = "SlideMotor";
-    public static final String Claw_Servo = "ClawServo";
-    public static final String Wrist_Servo = "WristServo";
-    public static final String Arm_Servo = "ArmServo";
+    /*
+        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
     */
 
     // The weight of the robot in Kilograms
-    public static final double ROBOT_WEIGHT_IN_KG = 9;
+    public static final double ROBOT_WEIGHT_IN_KG = 10.5;
 
     // Maximum velocity of the robot going forward
-    public static final double ROBOT_SPEED_FORWARD = 51.5;
+    public static final double ROBOT_SPEED_FORWARD = 51.4598;
 
     // Maximum velocity of the robot going right
-    public static final double ROBOT_SPEED_LATERAL = 28.7;
+    public static final double ROBOT_SPEED_LATERAL = 28.7119;
 
     // Rate of deceleration when power is cut-off when the robot is moving forward
-    public static final double FORWARD_ZERO_POWER_ACCEL = -59.8;
+    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 = -99.7;
+    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 = 3.5;

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

@@ -13,6 +13,7 @@ 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;
@@ -35,7 +36,7 @@ public class PreLoadedBlueBasketAuto extends OpMode {
                 .addPath(
                         // Line 1
                         new BezierLine(
-                                new Point(8.036, 89.196, Point.CARTESIAN),
+                                new Point(8, 89, Point.CARTESIAN),
                                 new Point(10.125, 126.804, Point.CARTESIAN)
                         )
                 )
@@ -87,15 +88,15 @@ public class PreLoadedBlueBasketAuto extends OpMode {
                         // Line 7
                         new BezierLine(
                                 new Point(59.625, 126.964, Point.CARTESIAN),
-                                new Point(57.857, 133.071, Point.CARTESIAN)
+                                new Point(57.857, 131.071, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 8
                         new BezierLine(
-                                new Point(57.857, 133.071, Point.CARTESIAN),
-                                new Point(18.964, 134.679, Point.CARTESIAN)
+                                new Point(57.857, 131.071, Point.CARTESIAN),
+                                new Point(18.964, 131.679, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
@@ -118,5 +119,6 @@ public class PreLoadedBlueBasketAuto extends OpMode {
     public void loop() {
         follower.update();
         follower.telemetryDebug(telemetryA);
+
     }
 }

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

@@ -1,151 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-/**
- * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
- * a circle, but some Bezier curves that have control points set essentially in a square. However,
- * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
- * heading is to be expected.
- *
- * @author Anyi Lin - 10158 Scott's Bots
- * @author Aaron Yang - 10158 Scott's Bots
- * @author Harrison Womack - 10158 Scott's Bots
- * @version 1.0, 3/12/2024
- */
-@Config
-@Autonomous(name = "BlueNonBasketAuto", group = "Autonomous Pathing Tuning")
-public class BlueNonBasketAuto extends OpMode {
-    private Telemetry telemetryA;
-
-    private Follower follower;
-
-    private PathChain path;
-
-    private final Pose startPose = new Pose(10.929, 55.446, 0);
-
-    /**
-     * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
-     * initializes the FTC Dashboard telemetry.
-     */
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-
-        follower.setMaxPower(.45);
-
-        follower.setStartingPose(startPose);
-
-        path = follower.pathBuilder()
-                .addPath(
-                // Line 1
-                new BezierCurve(
-                        new Point(10.929, 55.446, Point.CARTESIAN),
-                        new Point(42.429, 46.446, Point.CARTESIAN),
-                        new Point(36.321, 38.089, Point.CARTESIAN)
-                )
-        )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 2
-                        new BezierLine(
-                                new Point(36.321, 38.089, Point.CARTESIAN),
-                                new Point(59.786, 36.643, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 3
-                        new BezierLine(
-                                new Point(59.786, 36.643, Point.CARTESIAN),
-                                new Point(59.304, 24.750, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 4
-                        new BezierLine(
-                                new Point(59.304, 24.750, Point.CARTESIAN),
-                                new Point(13.982, 23.946, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 5
-                        new BezierLine(
-                                new Point(13.982, 23.946, Point.CARTESIAN),
-                                new Point(59.464, 24.429, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 6
-                        new BezierLine(
-                                new Point(59.464, 24.429, Point.CARTESIAN),
-                                new Point(58.982, 15.268, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 7
-                        new BezierLine(
-                                new Point(58.982, 15.268, Point.CARTESIAN),
-                                new Point(13.821, 14.464, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 8
-                        new BezierLine(
-                                new Point(13.821, 14.464, Point.CARTESIAN),
-                                new Point(58.661, 13.500, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 9
-                        new BezierLine(
-                                new Point(58.661, 13.500, Point.CARTESIAN),
-                                new Point(58.339, 8.679, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 10
-                        new BezierLine(
-                                new Point(58.339, 8.679, Point.CARTESIAN),
-                                new Point(14.625, 8.518, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0)).build();
-        follower.followPath(path, true);
-
-        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
-        telemetryA.update();
-    }
-
-    /**
-     * This runs the OpMode, updating the Follower as well as printing out the debug statements to
-     * the Telemetry, as well as the FTC Dashboard.
-     */
-    @Override
-    public void loop() {
-        follower.update();
-        if (follower.atParametricEnd()) {
-            follower.followPath(path, true);
-        }
-        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

@@ -1,10 +1,5 @@
 package org.firstinspires.ftc.teamcode.cometbots;
 
-import static org.firstinspires.ftc.teamcode.PedroConstants.MAX_POWER;
-
-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;
@@ -15,7 +10,12 @@ 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 {
 
@@ -23,6 +23,10 @@ public class CometBotAutoDevelopment {
     Subsystems
      */
     private MotorsSubsystem motors;
+    public ClawActionsSubsystem claw;
+    public ArmActionsSubsystem arm;
+    public WristActionsSubsystem wrist;
+    public LiftActionsSubsystem lift;
 
     /*
     Controllers
@@ -34,18 +38,23 @@ public class CometBotAutoDevelopment {
     public Gamepad currentGP2;
     public Gamepad previousGP2;
     private Telemetry telemetry;
-
     public FieldStates fieldStates;
-    private boolean centricity = false;
 
     private Follower follower;
-    private HardwareMap hardwareMap;
+
+    /*
+        Actions - Path
+     */
+    private AutoLine1 myFirstPath;
 
     public CometBotAutoDevelopment(HardwareMap hardwareMap, Telemetry telemetry, Gamepad gp1, Gamepad gp2) {
-        this.motors = new MotorsSubsystem(hardwareMap, telemetry);
+        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.hardwareMap = hardwareMap;
         this.telemetry = telemetry;
         this.currentGP1 = new Gamepad();
         this.currentGP2 = new Gamepad();
@@ -55,41 +64,14 @@ public class CometBotAutoDevelopment {
         this.follower = new Follower(hardwareMap);
     }
 
-    public class ZeroOutPower implements Action {
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-            follower = new Follower(hardwareMap);
-            follower.setMaxPower(0);
-            System.out.println("Running ZeroOutPower");
-            return follower.isBusy();
-        }
-    }
-
-    public class ReturnToMaxPower implements Action {
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-            follower = new Follower(hardwareMap);
-            follower.setMaxPower(MAX_POWER);
-            follower.startTeleopDrive();
-            System.out.println("Running ReturnToMaxPower");
-            return follower.isBusy();
-        }
-    }
-
-    public Action zeroOutPower() {
-        return new ZeroOutPower();
-    }
-
-    public Action returnToMaxPower() {
-        return new ReturnToMaxPower();
-    }
-
     public void init() {
         this.motors.init();
+        this.claw.init();
+        this.arm.init();
+        this.wrist.init();
+        this.lift.init();
         this.fieldStates.setFieldLocation(FieldStates.FieldLocation.TRAVELING);
-        follower.setMaxPower(MAX_POWER);
+        follower.setMaxPower(.75);
         follower.startTeleopDrive();
     }
 
@@ -99,44 +81,113 @@ public class CometBotAutoDevelopment {
         this.previousGP2.copy(currentGP2);
         this.currentGP2.copy(this.GP2);
 
-        this.toFixMotorBlockingIssueFirstMethod();
-        this.toFixMotorBlockingIssueSecondMethod();
-        this.changeCentricity();
+        this.toHighBucketScore();
+        this.toLowBucketScore();
+        this.toArmParkPosition();
+        this.toArmParkThenSwitchBetweenSubmarineAndFloorPosition();
+        this.clawControl();
 
-        follower.setTeleOpMovementVectors(-this.GP1.left_stick_y, -this.GP1.left_stick_x, -this.GP1.right_stick_x, centricity);
+//        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());
     }
 
-    public void changeCentricity() {
-        if (this.currentGP1.left_bumper && !this.previousGP1.left_bumper) {
-            this.centricity = !centricity;
-            this.follower.breakFollowing();
-            this.follower.startTeleopDrive();
-        }
-    }
 
-    public void toFixMotorBlockingIssueFirstMethod() {
-        if (this.currentGP1.cross && !this.previousGP1.cross) {
+    /*
+    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.zeroOutPower(),
-                    new SleepAction(3),
-                    this.returnToMaxPower()
+                    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 toFixMotorBlockingIssueSecondMethod() {
+    public void toLowBucketScore() {
         if (this.currentGP1.circle && !this.previousGP1.circle) {
-            this.follower.breakFollowing();
             fieldStates.setFieldLocation(FieldStates.FieldLocation.BUCKET);
             Actions.runBlocking(new SequentialAction(
-                    new SleepAction(3)
+                    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);
-            this.follower.startTeleopDrive();
         }
     }
+
+    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/projects/AsherPathV1.java

@@ -1,135 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots.projects;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-/**
- * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
- * a circle, but some Bezier curves that have control points set essentially in a square. However,
- * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
- * heading is to be expected.
- *
- * @author Anyi Lin - 10158 Scott's Bots
- * @author Aaron Yang - 10158 Scott's Bots
- * @author Harrison Womack - 10158 Scott's Bots
- * @version 1.0, 3/12/2024
- */
-@Config
-@Autonomous(name = "AsherPathV1", group = "Autonomous Pathing Tuning")
-public class AsherPathV1 extends OpMode {
-    private Telemetry telemetryA;
-
-    private Follower follower;
-
-    private PathChain path;
-
-    private final Pose startPose = new Pose(10.0, 40, 90);
-
-    /**
-     * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
-     * initializes the FTC Dashboard telemetry.
-     */
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-
-        follower.setMaxPower(.4);
-
-        follower.setStartingPose(startPose);
-
-        path = follower.pathBuilder()
-                /*
-                * Only update this path
-                 */
-                .addPath(
-                        // Line 1
-                        new BezierCurve(
-                                new Point(9.757, 84.983, Point.CARTESIAN),
-                                new Point(33.000, 105.000, Point.CARTESIAN),
-                                new Point(80.000, 118.000, Point.CARTESIAN),
-                                new Point(55.000, 120.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 2
-                        new BezierCurve(
-                                new Point(55.000, 120.000, Point.CARTESIAN),
-                                new Point(22.000, 106.000, Point.CARTESIAN),
-                                new Point(11.000, 131.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 3
-                        new BezierCurve(
-                                new Point(11.000, 131.000, Point.CARTESIAN),
-                                new Point(75.000, 95.000, Point.CARTESIAN),
-                                new Point(112.000, 132.000, Point.CARTESIAN),
-                                new Point(61.000, 131.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 4
-                        new BezierLine(
-                                new Point(61.000, 131.000, Point.CARTESIAN),
-                                new Point(11.000, 131.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 5
-                        new BezierCurve(
-                                new Point(11.000, 131.000, Point.CARTESIAN),
-                                new Point(100.000, 118.000, Point.CARTESIAN),
-                                new Point(103.000, 135.000, Point.CARTESIAN),
-                                new Point(61.000, 135.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 6
-                        new BezierLine(
-                                new Point(61.000, 135.000, Point.CARTESIAN),
-                                new Point(11.000, 131.000, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 7
-                        new BezierCurve(
-                                new Point(11.000, 131.000, Point.CARTESIAN),
-                                new Point(113.000, 95.000, Point.CARTESIAN),
-                                new Point(67.000, 95.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90)).build();
-                /*
-                * End of only update this path
-                 */
-
-        follower.followPath(path);
-
-        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
-        telemetryA.update();
-    }
-
-    /**
-     * This runs the OpMode, updating the Follower as well as printing out the debug statements to
-     * the Telemetry, as well as the FTC Dashboard.
-     */
-    @Override
-    public void loop() {
-        follower.update();
-        if (follower.atParametricEnd()) {
-            follower.followPath(path);
-        }
-        follower.telemetryDebug(telemetryA);
-    }
-}

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

@@ -1,79 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots.projects;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-/**
- * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
- * a circle, but some Bezier curves that have control points set essentially in a square. However,
- * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
- * heading is to be expected.
- *
- * @author Anyi Lin - 10158 Scott's Bots
- * @author Aaron Yang - 10158 Scott's Bots
- * @author Harrison Womack - 10158 Scott's Bots
- * @version 1.0, 3/12/2024
- */
-@Config
-@Autonomous(name = "AutoExample - Straight Path", group = "Autonomous Pathing Tuning")
-public class AutoExample extends OpMode {
-    private Telemetry telemetryA;
-
-    private Follower follower;
-
-    private PathChain path;
-
-    private final Pose startPose = new Pose(0.0, 20.0, 0);
-
-    /**
-     * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
-     * initializes the FTC Dashboard telemetry.
-     */
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-
-        follower.setMaxPower(.6);
-
-        follower.setStartingPose(startPose);
-
-        path = follower.pathBuilder()
-                .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(0.000, 20.000, Point.CARTESIAN),
-                                new Point(50.000, 20.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .build();
-
-        follower.followPath(path);
-
-        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
-        telemetryA.update();
-    }
-
-    /**
-     * This runs the OpMode, updating the Follower as well as printing out the debug statements to
-     * the Telemetry, as well as the FTC Dashboard.
-     */
-    @Override
-    public void loop() {
-        follower.update();
-        if (follower.atParametricEnd()) {
-            follower.followPath(path);
-        }
-        follower.telemetryDebug(telemetryA);
-    }
-}

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

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

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

@@ -1,142 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots.projects;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-/**
- * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
- * a circle, but some Bezier curves that have control points set essentially in a square. However,
- * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
- * heading is to be expected.
- *
- * @author Anyi Lin - 10158 Scott's Bots
- * @author Aaron Yang - 10158 Scott's Bots
- * @author Harrison Womack - 10158 Scott's Bots
- * @version 1.0, 3/12/2024
- */
-@Config
-@Autonomous(name = "AutoExampleSeason2025V1", group = "Autonomous Pathing Tuning")
-public class AutoExampleSeason2025V1 extends OpMode {
-    private Telemetry telemetryA;
-
-    private Follower follower;
-
-    private PathChain path;
-
-    private final Pose startPose = new Pose(15.0, 35, 90);
-
-    /**
-     * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
-     * initializes the FTC Dashboard telemetry.
-     */
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-
-        follower.setMaxPower(.375);
-
-        follower.setStartingPose(startPose);
-
-        path = follower.pathBuilder()
-                .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(15.000, 35.000, Point.CARTESIAN),
-                                new Point(60.000, 35.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 2
-                        new BezierLine(
-                                new Point(60.000, 35.000, Point.CARTESIAN),
-                                new Point(60.000, 25.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 3
-                        new BezierLine(
-                                new Point(60.000, 25.000, Point.CARTESIAN),
-                                new Point(15.000, 25.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 4
-                        new BezierLine(
-                                new Point(15.000, 25.000, Point.CARTESIAN),
-                                new Point(60.000, 25.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 5
-                        new BezierLine(
-                                new Point(60.000, 25.000, Point.CARTESIAN),
-                                new Point(60.000, 15.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 6
-                        new BezierLine(
-                                new Point(60.000, 15.000, Point.CARTESIAN),
-                                new Point(15.000, 15.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 7
-                        new BezierLine(
-                                new Point(15.000, 15.000, Point.CARTESIAN),
-                                new Point(60.000, 15.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 8
-                        new BezierLine(
-                                new Point(60.000, 15.000, Point.CARTESIAN),
-                                new Point(60.000, 8.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90))
-                .addPath(
-                        // Line 9
-                        new BezierLine(
-                                new Point(60.000, 8.000, Point.CARTESIAN),
-                                new Point(15.000, 8.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(90)).build();
-
-        follower.followPath(path);
-
-        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
-        telemetryA.update();
-    }
-
-    /**
-     * This runs the OpMode, updating the Follower as well as printing out the debug statements to
-     * the Telemetry, as well as the FTC Dashboard.
-     */
-    @Override
-    public void loop() {
-        follower.update();
-        if (follower.atParametricEnd()) {
-            follower.followPath(path);
-        }
-        follower.telemetryDebug(telemetryA);
-    }
-}

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

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

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

@@ -1,80 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots.projects;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-/**
- * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
- * a circle, but some Bezier curves that have control points set essentially in a square. However,
- * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
- * heading is to be expected.
- *
- * @author Anyi Lin - 10158 Scott's Bots
- * @author Aaron Yang - 10158 Scott's Bots
- * @author Harrison Womack - 10158 Scott's Bots
- * @version 1.0, 3/12/2024
- */
-@Config
-@Autonomous(name = "AutoExample - Simple Curve", group = "Autonomous Pathing Tuning")
-public class AutoExampleTwo extends OpMode {
-    private Telemetry telemetryA;
-
-    private Follower follower;
-
-    private PathChain path;
-
-    private final Pose startPose = new Pose(10.0, 45, 0);
-
-    /**
-     * This initializes the Follower and creates the PathChain for the "circle". Additionally, this
-     * initializes the FTC Dashboard telemetry.
-     */
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-
-        follower.setMaxPower(.4);
-
-        follower.setStartingPose(startPose);
-
-        path = follower.pathBuilder()
-                .addPath(
-                        // Line 1
-                        new BezierCurve(
-                                new Point(10.000, 45.000, Point.CARTESIAN),
-                                new Point(45.000, 45.000, Point.CARTESIAN),
-                                new Point(50.000, 20.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-90))
-                .build();
-
-        follower.followPath(path);
-
-        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
-        telemetryA.update();
-    }
-
-    /**
-     * This runs the OpMode, updating the Follower as well as printing out the debug statements to
-     * the Telemetry, as well as the FTC Dashboard.
-     */
-    @Override
-    public void loop() {
-        follower.update();
-        if (follower.atParametricEnd()) {
-            follower.followPath(path);
-        }
-        follower.telemetryDebug(telemetryA);
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/AutoTest.java

@@ -1,91 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots.projects;
-
-import com.acmerobotics.dashboard.FtcDashboard;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
-import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
-import com.qualcomm.robotcore.eventloop.opmode.OpMode;
-
-import org.firstinspires.ftc.robotcore.external.Telemetry;
-import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-/**
- * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
- * a circle, but some Bezier curves that have control points set essentially in a square. However,
- * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
- * heading is to be expected.
- *
- * @author Anyi Lin - 10158 Scott's Bots
- * @author Aaron Yang - 10158 Scott's Bots
- * @author Harrison Womack - 10158 Scott's Bots
- * @version 1.0, 3/12/2024
- */
-@Config
-@Autonomous (name = "Test", group = "Autonomous Pathing Tuning")
-public class AutoTest extends OpMode {
-    private Telemetry telemetryA;
-
-
-    private Follower follower;
-
-    private PathChain test;
-
-    @Override
-    public void init() {
-        follower = new Follower(hardwareMap);
-
-        test = follower.pathBuilder()
-                .addPath(
-        new BezierLine(
-                new Point(8.000, 60.000, Point.CARTESIAN),
-                new Point(18.000, 60.000, Point.CARTESIAN)
-        )
-      )
-
-                .addPath(
-                        // Line 2
-                        new BezierCurve(
-                                new Point(18.000, 60.000, Point.CARTESIAN),
-                                new Point(18.000, 23.000, Point.CARTESIAN),
-                                new Point(48.000, 23.000, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 3
-                        new BezierLine(
-                                new Point(48.000, 23.000, Point.CARTESIAN),
-                                new Point(60.000, 36.000, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 4
-                        new BezierLine(
-                                new Point(60.000, 36.000, Point.CARTESIAN),
-                                new Point(60.000, 49.000, Point.CARTESIAN)
-                        )
-                ).build();
-
-
-        follower.followPath(test);
-
-        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
-        telemetryA.update();
-    }
-
-
-    @Override
-    public void loop() {
-        follower.update();
-        if (follower.atParametricEnd()) {
-            follower.followPath(test);
-        }
-
-        follower.telemetryDebug(telemetryA);
-    }
-}

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

@@ -1,197 +0,0 @@
-/* Copyright (c) 2021 FIRST. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted (subject to the limitations in the disclaimer below) provided that
- * the following conditions are met:
- *
- * Redistributions of source code must retain the above copyright notice, this list
- * of conditions and the following disclaimer.
- *
- * Redistributions in binary form must reproduce the above copyright notice, this
- * list of conditions and the following disclaimer in the documentation and/or
- * other materials provided with the distribution.
- *
- * Neither the name of FIRST nor the names of its contributors may be used to endorse or
- * promote products derived from this software without specific prior written permission.
- *
- * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
- * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
- * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-package org.firstinspires.ftc.teamcode.cometbots.projects;
-
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
-import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER_DIRECTION;
-
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.util.ElapsedTime;
-
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
-
-/*
- * This file contains an example of a Linear "OpMode".
- * An OpMode is a 'program' that runs in either the autonomous or the teleop period of an FTC match.
- * The names of OpModes appear on the menu of the FTC Driver Station.
- * When a selection is made from the menu, the corresponding OpMode is executed.
- *
- * This particular OpMode illustrates driving a 4-motor Omni-Directional (or Holonomic) robot.
- * This code will work with either a Mecanum-Drive or an X-Drive train.
- * Both of these drives are illustrated at https://gm0.org/en/latest/docs/robot-design/drivetrains/holonomic.html
- * Note that a Mecanum drive must display an X roller-pattern when viewed from above.
- *
- * Also note that it is critical to set the correct rotation direction for each motor.  See details below.
- *
- * Holonomic drives provide the ability for the robot to move in three axes (directions) simultaneously.
- * Each motion axis is controlled by one Joystick axis.
- *
- * 1) Axial:    Driving forward and backward               Left-joystick Forward/Backward
- * 2) Lateral:  Strafing right and left                     Left-joystick Right and Left
- * 3) Yaw:      Rotating Clockwise and counter clockwise    Right-joystick Right and Left
- *
- * This code is written assuming that the right-side motors need to be reversed for the robot to drive forward.
- * When you first test your robot, if it moves backward when you push the left stick forward, then you must flip
- * the direction of all 4 motors (see code below).
- *
- * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
- * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
- */
-
-@TeleOp(name="Basic: Omni Linear OpMode", group="Linear OpMode")
-public class BasicOmniOpMode_Linear extends LinearOpMode {
-
-    // Declare OpMode members for each of the 4 motors.
-    private final ElapsedTime runtime = new ElapsedTime();
-
-    @Override
-    public void runOpMode() {
-
-        // Initialize the hardware variables. Note that the strings used here must correspond
-        // to the names assigned during the robot configuration step on the DS or RC devices.
-        DcMotor leftFrontDrive = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
-        DcMotor leftBackDrive = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
-        DcMotor rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
-        DcMotor rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
-
-
-
-        // TODO: replace these with your encoder ports
-        Encoder leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
-        Encoder rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
-        Encoder strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
-
-        // TODO: reverse any encoders necessary
-        leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
-        rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
-        strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
-
-        // ########################################################################################
-        // !!!            IMPORTANT Drive Information. Test your motor directions.            !!!!!
-        // ########################################################################################
-        // Most robots need the motors on one side to be reversed to drive forward.
-        // The motor reversals shown here are for a "direct drive" robot (the wheels turn the same direction as the motor shaft)
-        // If your robot has additional gear reductions or uses a right-angled drive, it's important to ensure
-        // that your motors are turning in the correct direction.  So, start out with the reversals here, BUT
-        // when you first test your robot, push the left joystick forward and observe the direction the wheels turn.
-        // Reverse the direction (flip FORWARD <-> REVERSE ) of any wheel that runs backward
-        // Keep testing until ALL the wheels move the robot forward when you push the left joystick forward.
-        leftFrontDrive.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
-        leftBackDrive.setDirection(BACK_LEFT_MOTOR_DIRECTION);
-        rightFrontDrive.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
-        rightBackDrive.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
-
-        // Wait for the game to start (driver presses START)
-        telemetry.addData("Status", "Initialized");
-        telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
-        telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
-        telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
-        telemetry.update();
-
-        waitForStart();
-        runtime.reset();
-
-        // run until the end of the match (driver presses STOP)
-        while (opModeIsActive()) {
-            double max;
-
-            // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
-            double axial   = -gamepad1.left_stick_y;  // Note: pushing stick forward gives negative value
-            double lateral =  gamepad1.left_stick_x;
-            double yaw     =  gamepad1.right_stick_x;
-
-            // Combine the joystick requests for each axis-motion to determine each wheel's power.
-            // Set up a variable for each drive wheel to save the power level for telemetry.
-            double leftFrontPower  = axial + lateral + yaw;
-            double rightFrontPower = axial - lateral - yaw;
-            double leftBackPower   = axial - lateral + yaw;
-            double rightBackPower  = axial + lateral - yaw;
-
-            // Normalize the values so no wheel power exceeds 100%
-            // This ensures that the robot maintains the desired motion.
-            max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
-            max = Math.max(max, Math.abs(leftBackPower));
-            max = Math.max(max, Math.abs(rightBackPower));
-
-            if (max > 1.0) {
-                leftFrontPower  /= max;
-                rightFrontPower /= max;
-                leftBackPower   /= max;
-                rightBackPower  /= max;
-            }
-
-            // This is test code:
-            //
-            // Uncomment the following code to test your motor directions.
-            // Each button should make the corresponding motor run FORWARD.
-            //   1) First get all the motors to take to correct positions on the robot
-            //      by adjusting your Robot Configuration if necessary.
-            //   2) Then make sure they run in the correct direction by modifying the
-            //      the setDirection() calls above.
-            // Once the correct motors move in the correct direction re-comment this code.
-
-            /*
-            leftFrontPower  = gamepad1.x ? 1.0 : 0.0;  // X gamepad
-            leftBackPower   = gamepad1.a ? 1.0 : 0.0;  // A gamepad
-            rightFrontPower = gamepad1.y ? 1.0 : 0.0;  // Y gamepad
-            rightBackPower  = gamepad1.b ? 1.0 : 0.0;  // B gamepad
-            */
-
-            // Send calculated power to wheels
-            leftFrontDrive.setPower(leftFrontPower);
-            rightFrontDrive.setPower(rightFrontPower);
-            leftBackDrive.setPower(leftBackPower);
-            rightBackDrive.setPower(rightBackPower);
-
-            // Show the elapsed game time and wheel power.
-            telemetry.addData("Status", "Run Time: " + runtime.toString());
-            telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
-            telemetry.addData("Back  left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
-            telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
-            telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
-            telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
-            telemetry.update();
-        }
-    }}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/BlueAuto.java

@@ -1,128 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots.projects;
-
-
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-public class BlueAuto {
-
-
-
-    public void GeneratedPath() {
-        PathBuilder builder = new PathBuilder();
-
-        builder
-                .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(9.757, 84.983, Point.CARTESIAN),
-                                new Point(8.442, 129.227, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 2
-                        new BezierLine(
-                                new Point(8.442, 129.227, Point.CARTESIAN),
-                                new Point(52.762, 101.628, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 3
-                        new BezierLine(
-                                new Point(52.762, 101.628, Point.CARTESIAN),
-                                new Point(79.224, 116.564, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 4
-                        new BezierLine(
-                                new Point(79.224, 116.564, Point.CARTESIAN),
-                                new Point(54.548, 130.525, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 5
-                        new BezierLine(
-                                new Point(54.548, 130.525, Point.CARTESIAN),
-                                new Point(12.338, 133.772, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 6
-                        new BezierLine(
-                                new Point(12.338, 133.772, Point.CARTESIAN),
-                                new Point(52.437, 101.628, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 7
-                        new BezierLine(
-                                new Point(52.437, 101.628, Point.CARTESIAN),
-                                new Point(71.594, 120.947, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 8
-                        new BezierLine(
-                                new Point(71.594, 120.947, Point.CARTESIAN),
-                                new Point(52.275, 120.785, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 9
-                        new BezierLine(
-                                new Point(52.275, 120.785, Point.CARTESIAN),
-                                new Point(11.039, 131.012, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 10
-                        new BezierLine(
-                                new Point(11.039, 131.012, Point.CARTESIAN),
-                                new Point(70.782, 120.460, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 11
-                        new BezierLine(
-                                new Point(70.782, 120.460, Point.CARTESIAN),
-                                new Point(50.327, 142.377, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 12
-                        new BezierLine(
-                                new Point(50.327, 142.377, Point.CARTESIAN),
-                                new Point(13.799, 134.422, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 13
-                        new BezierLine(
-                                new Point(13.799, 134.422, Point.CARTESIAN),
-                                new Point(13.799, 134.422, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 14
-                        new BezierLine(
-                                new Point(13.799, 134.422, Point.CARTESIAN),
-                                new Point(71.919, 103.901, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation();
-    }
-}

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

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

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

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

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/GeneratedPath.java

@@ -1,109 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots.projects;
-
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-public class GeneratedPath {
-    public GeneratedPath() {
-        PathBuilder builder = new PathBuilder();
-
-        builder
-                .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(9.757, 84.983, Point.CARTESIAN),
-                                new Point(28.573, 76.302, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 2
-                        new BezierLine(
-                                new Point(28.573, 76.302, Point.CARTESIAN),
-                                new Point(36.203, 76.140, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 3
-                        new BezierLine(
-                                new Point(36.203, 76.140, Point.CARTESIAN),
-                                new Point(35.067, 35.716, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 4
-                        new BezierLine(
-                                new Point(35.067, 35.716, Point.CARTESIAN),
-                                new Point(73.705, 34.742, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 5
-                        new BezierLine(
-                                new Point(73.705, 34.742, Point.CARTESIAN),
-                                new Point(73.705, 24.839, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 6
-                        new BezierLine(
-                                new Point(73.705, 24.839, Point.CARTESIAN),
-                                new Point(7.630, 26.462, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 7
-                        new BezierLine(
-                                new Point(7.630, 26.462, Point.CARTESIAN),
-                                new Point(64.126, 22.728, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 8
-                        new BezierLine(
-                                new Point(64.126, 22.728, Point.CARTESIAN),
-                                new Point(63.964, 13.150, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 9
-                        new BezierLine(
-                                new Point(63.964, 13.150, Point.CARTESIAN),
-                                new Point(12.338, 15.260, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 10
-                        new BezierLine(
-                                new Point(12.338, 15.260, Point.CARTESIAN),
-                                new Point(63.802, 13.150, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 11
-                        new BezierLine(
-                                new Point(63.802, 13.150, Point.CARTESIAN),
-                                new Point(63.639, 11.689, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 12
-                        new BezierLine(
-                                new Point(63.639, 11.689, Point.CARTESIAN),
-                                new Point(12.014, 11.689, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation();
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/RedAuto.java

@@ -1,99 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots.projects;
-
-
-
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-public class RedAuto {
-
-
-    public class GeneratedPath {
-
-        public GeneratedPath() {
-            PathBuilder builder = new PathBuilder();
-
-            builder
-                    .addPath(
-                            // Line 1
-                            new BezierLine(
-                                    new Point(131.499, 58.931, Point.CARTESIAN),
-                                    new Point(131.986, 18.183, Point.CARTESIAN)
-                            )
-                    )
-                    .setTangentHeadingInterpolation()
-                    .addPath(
-                            // Line 2
-                            new BezierLine(
-                                    new Point(131.986, 18.183, Point.CARTESIAN),
-                                    new Point(90.264, 40.911, Point.CARTESIAN)
-                            )
-                    )
-                    .setTangentHeadingInterpolation()
-                    .addPath(
-                            // Line 3
-                            new BezierLine(
-                                    new Point(90.264, 40.911, Point.CARTESIAN),
-                                    new Point(83.445, 26.300, Point.CARTESIAN)
-                            )
-                    )
-                    .setTangentHeadingInterpolation()
-                    .addPath(
-                            // Line 4
-                            new BezierLine(
-                                    new Point(83.445, 26.300, Point.CARTESIAN),
-                                    new Point(136.207, 14.286, Point.CARTESIAN)
-                            )
-                    )
-                    .setTangentHeadingInterpolation()
-                    .addPath(
-                            // Line 5
-                            new BezierLine(
-                                    new Point(136.207, 14.286, Point.CARTESIAN),
-                                    new Point(81.497, 24.352, Point.CARTESIAN)
-                            )
-                    )
-                    .setTangentHeadingInterpolation()
-                    .addPath(
-                            // Line 6
-                            new BezierLine(
-                                    new Point(81.497, 24.352, Point.CARTESIAN),
-                                    new Point(82.634, 12.988, Point.CARTESIAN)
-                            )
-                    )
-                    .setTangentHeadingInterpolation()
-                    .addPath(
-                            // Line 7
-                            new BezierLine(
-                                    new Point(82.634, 12.988, Point.CARTESIAN),
-                                    new Point(133.935, 11.364, Point.CARTESIAN)
-                            )
-                    )
-                    .setTangentHeadingInterpolation()
-                    .addPath(
-                            // Line 8
-                            new BezierLine(
-                                    new Point(133.935, 11.364, Point.CARTESIAN),
-                                    new Point(82.309, 11.689, Point.CARTESIAN)
-                            )
-                    )
-                    .setTangentHeadingInterpolation()
-                    .addPath(
-                            // Line 9
-                            new BezierLine(
-                                    new Point(82.309, 11.689, Point.CARTESIAN),
-                                    new Point(83.445, 2.598, Point.CARTESIAN)
-                            )
-                    )
-                    .setTangentHeadingInterpolation()
-                    .addPath(
-                            // Line 10
-                            new BezierLine(
-                                    new Point(83.445, 2.598, Point.CARTESIAN),
-                                    new Point(132.149, 10.390, Point.CARTESIAN)
-                            )
-                    )
-                    .setTangentHeadingInterpolation();
-        }
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/SensorBNO055IMU.java

@@ -1,185 +0,0 @@
-/* Copyright (c) 2017 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.projects;
-
-import com.qualcomm.hardware.bosch.BNO055IMU;
-import com.qualcomm.hardware.bosch.JustLoggingAccelerationIntegrator;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-
-import org.firstinspires.ftc.robotcore.external.Func;
-import org.firstinspires.ftc.robotcore.external.navigation.Acceleration;
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
-import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
-import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
-import org.firstinspires.ftc.robotcore.external.navigation.Position;
-import org.firstinspires.ftc.robotcore.external.navigation.Velocity;
-
-import java.util.Locale;
-
-/*
- * This OpMode gives a short demo on how to use the BNO055 Inertial Motion Unit (IMU) from AdaFruit.
- *
- * Note: this is a Legacy example that will not work with newer Control/Expansion Hubs that use a different IMU
- * Please use the new SensorIMUOrthogonal or SensorIMUNonOrthogonal samples for a more universal IMU interface.
- *
- * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
- * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list
- *
- * @see <a href="http://www.adafruit.com/products/2472">Adafruit IMU</a>
- */
-@TeleOp(name = "Sensor: BNO055 IMU", group = "Sensor")
-public class SensorBNO055IMU extends LinearOpMode
-    {
-    //----------------------------------------------------------------------------------------------
-    // State
-    //----------------------------------------------------------------------------------------------
-
-    // The IMU sensor object
-    BNO055IMU imu;
-
-    // State used for updating telemetry
-    Orientation angles;
-    Acceleration gravity;
-
-    //----------------------------------------------------------------------------------------------
-    // Main logic
-    //----------------------------------------------------------------------------------------------
-
-    @Override public void runOpMode() {
-
-        // Set up the parameters with which we will use our IMU. Note that integration
-        // algorithm here just reports accelerations to the logcat log; it doesn't actually
-        // provide positional information.
-        BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
-        parameters.angleUnit           = BNO055IMU.AngleUnit.DEGREES;
-        parameters.accelUnit           = BNO055IMU.AccelUnit.METERS_PERSEC_PERSEC;
-        parameters.calibrationDataFile = "BNO055IMUCalibration.json"; // see the calibration sample OpMode
-        parameters.loggingEnabled      = true;
-        parameters.loggingTag          = "IMU";
-        parameters.accelerationIntegrationAlgorithm = new JustLoggingAccelerationIntegrator();
-
-        // Retrieve and initialize the IMU. We expect the IMU to be attached to an I2C port
-        // on a Core Device Interface Module, configured to be a sensor of type "AdaFruit IMU",
-        // and named "imu".
-        imu = hardwareMap.get(BNO055IMU.class, "adafruit_imu");
-        imu.initialize(parameters);
-
-        // Set up our telemetry dashboard
-        composeTelemetry();
-
-        // Wait until we're told to go
-        waitForStart();
-
-        // Start the logging of measured acceleration
-        imu.startAccelerationIntegration(new Position(), new Velocity(), 1000);
-
-        // Loop and update the dashboard
-        while (opModeIsActive()) {
-            telemetry.update();
-        }
-    }
-
-    //----------------------------------------------------------------------------------------------
-    // Telemetry Configuration
-    //----------------------------------------------------------------------------------------------
-
-    void composeTelemetry() {
-
-        // At the beginning of each telemetry update, grab a bunch of data
-        // from the IMU that we will then display in separate lines.
-        telemetry.addAction(new Runnable() { @Override public void run()
-                {
-                // Acquiring the angles is relatively expensive; we don't want
-                // to do that in each of the three items that need that info, as that's
-                // three times the necessary expense.
-                angles   = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
-                gravity  = imu.getGravity();
-                }
-            });
-
-        telemetry.addLine()
-            .addData("status", new Func<String>() {
-                @Override public String value() {
-                    return imu.getSystemStatus().toShortString();
-                    }
-                })
-            .addData("calib", new Func<String>() {
-                @Override public String value() {
-                    return imu.getCalibrationStatus().toString();
-                    }
-                });
-
-        telemetry.addLine()
-            .addData("heading", new Func<String>() {
-                @Override public String value() {
-                    return formatAngle(angles.angleUnit, angles.firstAngle);
-                    }
-                })
-            .addData("roll", new Func<String>() {
-                @Override public String value() {
-                    return formatAngle(angles.angleUnit, angles.secondAngle);
-                    }
-                })
-            .addData("pitch", new Func<String>() {
-                @Override public String value() {
-                    return formatAngle(angles.angleUnit, angles.thirdAngle);
-                    }
-                });
-
-        telemetry.addLine()
-            .addData("grvty", new Func<String>() {
-                @Override public String value() {
-                    return gravity.toString();
-                    }
-                })
-            .addData("mag", new Func<String>() {
-                @Override public String value() {
-                    return String.format(Locale.getDefault(), "%.3f",
-                            Math.sqrt(gravity.xAccel*gravity.xAccel
-                                    + gravity.yAccel*gravity.yAccel
-                                    + gravity.zAccel*gravity.zAccel));
-                    }
-                });
-    }
-
-    //----------------------------------------------------------------------------------------------
-    // Formatting
-    //----------------------------------------------------------------------------------------------
-
-    String formatAngle(AngleUnit angleUnit, double angle) {
-        return formatDegrees(AngleUnit.DEGREES.fromUnit(angleUnit, angle));
-    }
-
-    String formatDegrees(double degrees){
-        return String.format(Locale.getDefault(), "%.1f", AngleUnit.DEGREES.normalize(degrees));
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/SensorBNO055IMUCalibration.java

@@ -1,229 +0,0 @@
-/* Copyright (c) 2017 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.projects;
-
-import com.qualcomm.hardware.bosch.BNO055IMU;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.util.ReadWriteFile;
-
-import org.firstinspires.ftc.robotcore.external.Func;
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;
-import org.firstinspires.ftc.robotcore.external.navigation.AxesReference;
-import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
-import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
-
-import java.io.File;
-import java.util.Locale;
-
-/*
- * This OpMode calibrates a BNO055 IMU per
- * "Section 3.11 Calibration" of the BNO055 specification.
- *
- *  Note: this is a Legacy example that will not work with newer Control/Expansion Hubs that use a different IMU
- *  Please use the new SensorIMUOrthogonal or SensorIMUNonOrthogonal samples for a more universal IMU interface.
- *
- * Manual calibration of the IMU is definitely NOT necessary: except for the magnetometer (which is not used by the
- * default "IMU" SensorMode), the BNO055 is internally self-calibrating and thus can be very successfully used without
- * manual intervention. That said, performing a one-time calibration, saving the results persistently, then loading them
- * again at each run can help reduce the time that automatic calibration requires.
- *
- * This summary of the calibration process from Intel is informative:
- * http://iotdk.intel.com/docs/master/upm/classupm_1_1_b_n_o055.html
- *
- * "This device requires calibration in order to operate accurately. [...] Calibration data is
- * lost on a power cycle. See one of the examples for a description of how to calibrate the device,
- * but in essence:
- *
- * There is a calibration status register available [...] that returns the calibration status
- * of the accelerometer (ACC), magnetometer (MAG), gyroscope (GYR), and overall system (SYS).
- * Each of these values range from 0 (uncalibrated) to 3 (fully calibrated). Calibration [ideally]
- * involves certain motions to get all 4 values at 3. The motions are as follows (though see the
- * datasheet for more information):
- *
- *     1. GYR: Simply let the sensor sit flat for a few seconds.</ol>
- *     2. ACC: Move the sensor in various positions. Start flat, then rotate slowly by 45
- *             degrees, hold for a few seconds, then continue rotating another 45 degrees and
- *             hold, etc. 6 or more movements of this type may be required. You can move through
- *             any axis you desire, but make sure that the device is lying at least once
- *             perpendicular to the x, y, and z axis.</ol>
- *     3. MAG: Move slowly in a figure 8 pattern in the air, until the calibration values reaches 3.</ol>
- *     4. SYS: This will usually reach 3 when the other items have also reached 3. If not, continue
- *             slowly moving the device though various axes until it does."</ol>
- *
- * To calibrate the IMU, run this sample OpMode with a gamepad attached to the driver station.
- * Once the IMU has reached sufficient calibration as reported on telemetry, press the 'A'
- * button on the gamepad to write the calibration to a file. That file can then be indicated
- * later when running an OpMode which uses the IMU.
- *
- * Note: if your intended uses of the IMU do not include use of all its sensors (for example,
- * you might not use the magnetometer), then it makes little sense for you to wait for full
- * calibration of the sensors you are not using before saving the calibration data. Indeed,
- * it appears that in a SensorMode that doesn't use the magnetometer (for example), the
- * magnetometer cannot actually be calibrated.
- *
- * References:
- * The AdafruitBNO055IMU Javadoc
- * The BNO055IMU.Parameters.calibrationDataFile Javadoc
- * The BNO055 product page: https://www.bosch-sensortec.com/bst/products/all_products/bno055
- * The BNO055 datasheet: https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bno055-ds000.pdf
- */
-@TeleOp(name = "Sensor: BNO055 IMU Calibration", group = "Sensor")
-public class SensorBNO055IMUCalibration extends LinearOpMode
-    {
-    //----------------------------------------------------------------------------------------------
-    // State
-    //----------------------------------------------------------------------------------------------
-
-    // Our sensors, motors, and other devices go here, along with other long term state
-    BNO055IMU imu;
-
-    // State used for updating telemetry
-    Orientation angles;
-
-    //----------------------------------------------------------------------------------------------
-    // Main logic
-    //----------------------------------------------------------------------------------------------
-
-    @Override public void runOpMode() {
-
-        telemetry.log().setCapacity(12);
-        telemetry.log().add("");
-        telemetry.log().add("Please refer to the calibration instructions");
-        telemetry.log().add("contained in the Adafruit IMU calibration");
-        telemetry.log().add("sample OpMode.");
-        telemetry.log().add("");
-        telemetry.log().add("When sufficient calibration has been reached,");
-        telemetry.log().add("press the 'A' button to write the current");
-        telemetry.log().add("calibration data to a file.");
-        telemetry.log().add("");
-
-        // We are expecting the IMU to be attached to an I2C port on a Core Device Interface Module and named "imu".
-        BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
-        parameters.loggingEnabled = true;
-        parameters.loggingTag     = "IMU";
-        imu = hardwareMap.get(BNO055IMU.class, "adafruit_imu");
-        imu.initialize(parameters);
-
-        composeTelemetry();
-        telemetry.log().add("Waiting for start...");
-
-        // Wait until we're told to go
-        while (!isStarted()) {
-            telemetry.update();
-            idle();
-        }
-
-        telemetry.log().add("...started...");
-
-        while (opModeIsActive()) {
-
-            if (gamepad1.a) {
-
-                // Get the calibration data
-                BNO055IMU.CalibrationData calibrationData = imu.readCalibrationData();
-
-                // Save the calibration data to a file. You can choose whatever file
-                // name you wish here, but you'll want to indicate the same file name
-                // when you initialize the IMU in an OpMode in which it is used. If you
-                // have more than one IMU on your robot, you'll of course want to use
-                // different configuration file names for each.
-                String filename = "AdafruitIMUCalibration.json";
-                File file = AppUtil.getInstance().getSettingsFile(filename);
-                ReadWriteFile.writeFile(file, calibrationData.serialize());
-                telemetry.log().add("saved to '%s'", filename);
-
-                // Wait for the button to be released
-                while (gamepad1.a) {
-                    telemetry.update();
-                    idle();
-                }
-            }
-
-            telemetry.update();
-        }
-    }
-
-    void composeTelemetry() {
-
-        // At the beginning of each telemetry update, grab a bunch of data
-        // from the IMU that we will then display in separate lines.
-        telemetry.addAction(new Runnable() { @Override public void run()
-                {
-                // Acquiring the angles is relatively expensive; we don't want
-                // to do that in each of the three items that need that info, as that's
-                // three times the necessary expense.
-                angles   = imu.getAngularOrientation(AxesReference.INTRINSIC, AxesOrder.ZYX, AngleUnit.DEGREES);
-                }
-            });
-
-        telemetry.addLine()
-            .addData("status", new Func<String>() {
-                @Override public String value() {
-                    return imu.getSystemStatus().toShortString();
-                    }
-                })
-            .addData("calib", new Func<String>() {
-                @Override public String value() {
-                    return imu.getCalibrationStatus().toString();
-                    }
-                });
-
-        telemetry.addLine()
-            .addData("heading", new Func<String>() {
-                @Override public String value() {
-                    return formatAngle(angles.angleUnit, angles.firstAngle);
-                    }
-                })
-            .addData("roll", new Func<String>() {
-                @Override public String value() {
-                    return formatAngle(angles.angleUnit, angles.secondAngle);
-                    }
-                })
-            .addData("pitch", new Func<String>() {
-                @Override public String value() {
-                    return formatAngle(angles.angleUnit, angles.thirdAngle);
-                    }
-                });
-    }
-
-    //----------------------------------------------------------------------------------------------
-    // Formatting
-    //----------------------------------------------------------------------------------------------
-
-    String formatAngle(AngleUnit angleUnit, double angle) {
-        return formatDegrees(AngleUnit.DEGREES.fromUnit(angleUnit, angle));
-    }
-
-    String formatDegrees(double degrees){
-        return String.format(Locale.getDefault(), "%.1f", AngleUnit.DEGREES.normalize(degrees));
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/SensorIMUOrthogonal.java

@@ -1,172 +0,0 @@
-/* Copyright (c) 2022 FIRST. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted (subject to the limitations in the disclaimer below) provided that
- * the following conditions are met:
- *
- * Redistributions of source code must retain the above copyright notice, this list
- * of conditions and the following disclaimer.
- *
- * Redistributions in binary form must reproduce the above copyright notice, this
- * list of conditions and the following disclaimer in the documentation and/or
- * other materials provided with the distribution.
- *
- * Neither the name of FIRST nor the names of its contributors may be used to endorse or
- * promote products derived from this software without specific prior written permission.
- *
- * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
- * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
- * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-package org.firstinspires.ftc.teamcode.cometbots.projects;
-
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.IMU_LOGO_FACING_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.IMU_USB_FACING_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER;
-import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER_DIRECTION;
-
-import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
-import com.qualcomm.robotcore.eventloop.opmode.Disabled;
-import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
-import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.IMU;
-
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
-import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
-import org.firstinspires.ftc.teamcode.PedroConstants;
-import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
-
-/*
- * This OpMode shows how to use the new universal IMU interface. This
- * interface may be used with the BNO055 IMU or the BHI260 IMU. It assumes that an IMU is configured
- * on the robot with the name "imu".
- *
- * The sample will display the current Yaw, Pitch and Roll of the robot.<br>
- * With the correct orientation parameters selected, pitch/roll/yaw should act as follows:
- *   Pitch value should INCREASE as the robot is tipped UP at the front. (Rotation about X) <br>
- *   Roll value should INCREASE as the robot is tipped UP at the left side. (Rotation about Y) <br>
- *   Yaw value should INCREASE as the robot is rotated Counter Clockwise. (Rotation about Z) <br>
- *
- * The yaw can be reset (to zero) by pressing the Y button on the gamepad (Triangle on a PS4 controller)
- *
- * This specific sample assumes that the Hub is mounted on one of the three orthogonal planes
- * (X/Y, X/Z or Y/Z) and that the Hub has only been rotated in a range of 90 degree increments.
- *
- * Note: if your Hub is mounted on a surface angled at some non-90 Degree multiple (like 30) look at
- *       the alternative SensorIMUNonOrthogonal sample in this folder.
- *
- * This "Orthogonal" requirement means that:
- *
- * 1) The Logo printed on the top of the Hub can ONLY be pointing in one of six directions:
- *    FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT.
- *
- * 2) The USB ports can only be pointing in one of the same six directions:<br>
- *    FORWARD, BACKWARD, UP, DOWN, LEFT and RIGHT.
- *
- * So, To fully define how your Hub is mounted to the robot, you must simply specify:<br>
- *    logoFacingDirection<br>
- *    usbFacingDirection
- *
- * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
- * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
- *
- * Finally, choose the two correct parameters to define how your Hub is mounted and edit this OpMode
- * to use those parameters.
- */
-@TeleOp(name = "Sensor: IMU Orthogonal", group = "Sensor")
-@Disabled   // Comment this out to add to the OpMode list
-public class SensorIMUOrthogonal extends LinearOpMode {
-    // The IMU sensor object
-    IMU imu;
-    private Encoder leftEncoder;
-    private Encoder rightEncoder;
-    private Encoder strafeEncoder;
-
-    //----------------------------------------------------------------------------------------------
-    // Main logic
-    //----------------------------------------------------------------------------------------------
-
-    @Override
-    public void runOpMode() throws InterruptedException {
-
-        // Retrieve and initialize the IMU.
-        // This sample expects the IMU to be in a REV Hub and named "imu".
-        imu = hardwareMap.get(IMU.class, PedroConstants.IMU);
-
-        // TODO: replace these with your encoder ports
-        leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
-        rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, RIGHT_ENCODER));
-        strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
-
-        // TODO: reverse any encoders necessary
-        leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
-        rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
-        strafeEncoder.setDirection(BACK_ENCODER_DIRECTION);
-
-        /* Define how the hub is mounted on the robot to get the correct Yaw, Pitch and Roll values.
-         *
-         * Two input parameters are required to fully specify the Orientation.
-         * The first parameter specifies the direction the printed logo on the Hub is pointing.
-         * The second parameter specifies the direction the USB connector on the Hub is pointing.
-         * All directions are relative to the robot, and left/right is as-viewed from behind the robot.
-         *
-         * If you are using a REV 9-Axis IMU, you can use the Rev9AxisImuOrientationOnRobot class instead of the
-         * RevHubOrientationOnRobot class, which has an I2cPortFacingDirection instead of a UsbFacingDirection.
-         */
-
-        /* The next two lines define Hub orientation.
-         * The Default Orientation (shown) is when a hub is mounted horizontally with the printed logo pointing UP and the USB port pointing FORWARD.
-         *
-         * To Do:  EDIT these two lines to match YOUR mounting configuration.
-         */
-        RevHubOrientationOnRobot.LogoFacingDirection logoDirection = IMU_LOGO_FACING_DIRECTION;
-        RevHubOrientationOnRobot.UsbFacingDirection usbDirection = IMU_USB_FACING_DIRECTION;
-
-        RevHubOrientationOnRobot orientationOnRobot = new RevHubOrientationOnRobot(logoDirection, usbDirection);
-
-        // Now initialize the IMU with this mounting orientation
-        // Note: if you choose two conflicting directions, this initialization will cause a code exception.
-        imu.initialize(new IMU.Parameters(orientationOnRobot));
-
-        // Loop and update the dashboard
-        while (!isStopRequested()) {
-
-            telemetry.addData("Hub orientation", "Logo=%s   USB=%s\n ", logoDirection, usbDirection);
-
-            // Check to see if heading reset is requested
-            if (gamepad1.y) {
-                telemetry.addData("Yaw", "Resetting\n");
-                imu.resetYaw();
-            } else {
-                telemetry.addData("Yaw", "Press Y (triangle) on Gamepad to reset\n");
-            }
-
-            // Retrieve Rotational Angles and Velocities
-            YawPitchRollAngles orientation = imu.getRobotYawPitchRollAngles();
-            AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.DEGREES);
-
-            telemetry.addData("Yaw (Z)", "%.2f Deg. (Heading)", orientation.getYaw(AngleUnit.DEGREES));
-            telemetry.addData("Pitch (X)", "%.2f Deg.", orientation.getPitch(AngleUnit.DEGREES));
-            telemetry.addData("Roll (Y)", "%.2f Deg.\n", orientation.getRoll(AngleUnit.DEGREES));
-            telemetry.addData("Yaw (Z) velocity", "%.2f Deg/Sec", angularVelocity.zRotationRate);
-            telemetry.addData("Pitch (X) velocity", "%.2f Deg/Sec", angularVelocity.xRotationRate);
-            telemetry.addData("Roll (Y) velocity", "%.2f Deg/Sec", angularVelocity.yRotationRate);
-            telemetry.update();
-        }
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/bBlueAutoV1.java

@@ -1,237 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots.projects;
-
-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.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;
-
-@Autonomous(name = "org.firstinspires.ftc.teamcode.cometbots.projects.bBlueAutoV1", group = "V1")
-public class bBlueAutoV1 extends OpMode {
-
-    public Telemetry telemetry;
-    public Follower robot;
-    public PathChain path;
-
-    @Override
-    public void init() {
-        robot = new Follower(hardwareMap);
-
-        PathBuilder builder = new PathBuilder();
-
-       path = builder
-                .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(9.757, 84.983, Point.CARTESIAN),
-                                new Point(28.573, 76.302, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 2
-                        new BezierLine(
-                                new Point(28.573, 76.302, Point.CARTESIAN),
-                                new Point(36.203, 76.140, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 3
-                        new BezierLine(
-                                new Point(36.203, 76.140, Point.CARTESIAN),
-                                new Point(35.067, 35.716, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 4
-                        new BezierLine(
-                                new Point(35.067, 35.716, Point.CARTESIAN),
-                                new Point(73.705, 34.742, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 5
-                        new BezierLine(
-                                new Point(73.705, 34.742, Point.CARTESIAN),
-                                new Point(73.705, 24.839, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 6
-                        new BezierLine(
-                                new Point(73.705, 24.839, Point.CARTESIAN),
-                                new Point(7.630, 26.462, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 7
-                        new BezierLine(
-                                new Point(7.630, 26.462, Point.CARTESIAN),
-                                new Point(64.126, 22.728, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 8
-                        new BezierLine(
-                                new Point(64.126, 22.728, Point.CARTESIAN),
-                                new Point(63.964, 13.150, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 9
-                        new BezierLine(
-                                new Point(63.964, 13.150, Point.CARTESIAN),
-                                new Point(12.338, 15.260, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 10
-                        new BezierLine(
-                                new Point(12.338, 15.260, Point.CARTESIAN),
-                                new Point(63.802, 13.150, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 11
-                        new BezierLine(
-                                new Point(63.802, 13.150, Point.CARTESIAN),
-                                new Point(63.639, 11.689, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 12
-                        new BezierLine(
-                                new Point(63.639, 11.689, Point.CARTESIAN),
-                                new Point(12.014, 11.689, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 13
-                        new BezierLine(
-                                new Point(12.014, 11.689, Point.CARTESIAN),
-                                new Point(62.665, 30.196, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 14
-                        new BezierLine(
-                                new Point(62.665, 30.196, Point.CARTESIAN),
-                                new Point(13.312, 51.463, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 15
-                        new BezierLine(
-                                new Point(13.312, 51.463, Point.CARTESIAN),
-                                new Point(16.234, 103.738, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 16
-                        new BezierLine(
-                                new Point(16.234, 103.738, Point.CARTESIAN),
-                                new Point(68.023, 108.284, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 17
-                        new BezierLine(
-                                new Point(68.023, 108.284, Point.CARTESIAN),
-                                new Point(68.185, 121.109, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 18
-                        new BezierLine(
-                                new Point(68.185, 121.109, Point.CARTESIAN),
-                                new Point(21.754, 119.811, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 19
-                        new BezierLine(
-                                new Point(21.754, 119.811, Point.CARTESIAN),
-                                new Point(11.526, 129.227, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 20
-                        new BezierLine(
-                                new Point(11.526, 129.227, Point.CARTESIAN),
-                                new Point(72.568, 111.856, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 21
-                        new BezierLine(
-                                new Point(72.568, 111.856, Point.CARTESIAN),
-                                new Point(58.607, 128.902, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 22
-                        new BezierLine(
-                                new Point(58.607, 128.902, Point.CARTESIAN),
-                                new Point(11.364, 130.850, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 23
-                        new BezierLine(
-                                new Point(11.364, 130.850, Point.CARTESIAN),
-                                new Point(58.931, 128.577, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 24
-                        new BezierLine(
-                                new Point(58.931, 128.577, Point.CARTESIAN),
-                                new Point(58.769, 133.123, Point.CARTESIAN)
-                        )
-                )
-
-                .addPath(
-                        // Line 25
-                        new BezierLine(
-                                new Point(58.769, 133.123, Point.CARTESIAN),
-                                new Point(13.475, 133.935, Point.CARTESIAN)
-                        )
-                ).build();
-        ;
-    }
-
-
-    @Override
-    public void loop() {
-        robot.update();
-        if (robot.atParametricEnd())
-            robot.followPath(path);
-        robot.telemetryDebug(telemetry);
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/projects/bRedAutoV1.java

@@ -1,174 +0,0 @@
-package org.firstinspires.ftc.teamcode.cometbots.projects;
-
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathBuilder;
-import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
-
-public class bRedAutoV1 {
-
-    public bRedAutoV1() {
-        PathBuilder builder = new PathBuilder();
-
-        builder
-                .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(133.935, 83.770, Point.CARTESIAN),
-                                new Point(79.874, 117.213, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 2
-                        new BezierLine(
-                                new Point(79.874, 117.213, Point.CARTESIAN),
-                                new Point(79.874, 120.785, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 3
-                        new BezierLine(
-                                new Point(79.874, 120.785, Point.CARTESIAN),
-                                new Point(131.824, 118.349, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 4
-                        new BezierLine(
-                                new Point(131.824, 118.349, Point.CARTESIAN),
-                                new Point(79.549, 120.460, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 5
-                        new BezierLine(
-                                new Point(79.549, 120.460, Point.CARTESIAN),
-                                new Point(79.549, 128.740, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 6
-                        new BezierLine(
-                                new Point(79.549, 128.740, Point.CARTESIAN),
-                                new Point(131.337, 128.090, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 7
-                        new BezierLine(
-                                new Point(131.337, 128.090, Point.CARTESIAN),
-                                new Point(79.549, 128.740, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 8
-                        new BezierLine(
-                                new Point(79.549, 128.740, Point.CARTESIAN),
-                                new Point(79.549, 133.610, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 9
-                        new BezierLine(
-                                new Point(79.549, 133.610, Point.CARTESIAN),
-                                new Point(130.850, 133.285, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 10
-                        new BezierLine(
-                                new Point(130.850, 133.285, Point.CARTESIAN),
-                                new Point(130.201, 36.528, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 11
-                        new BezierLine(
-                                new Point(130.201, 36.528, Point.CARTESIAN),
-                                new Point(84.095, 36.203, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 12
-                        new BezierLine(
-                                new Point(84.095, 36.203, Point.CARTESIAN),
-                                new Point(84.095, 23.378, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 13
-                        new BezierLine(
-                                new Point(84.095, 23.378, Point.CARTESIAN),
-                                new Point(119.811, 23.378, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 14
-                        new BezierLine(
-                                new Point(119.811, 23.378, Point.CARTESIAN),
-                                new Point(127.603, 13.475, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 15
-                        new BezierLine(
-                                new Point(127.603, 13.475, Point.CARTESIAN),
-                                new Point(88.640, 28.248, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 16
-                        new BezierLine(
-                                new Point(88.640, 28.248, Point.CARTESIAN),
-                                new Point(87.666, 15.910, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 17
-                        new BezierLine(
-                                new Point(87.666, 15.910, Point.CARTESIAN),
-                                new Point(127.603, 12.014, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 18
-                        new BezierLine(
-                                new Point(127.603, 12.014, Point.CARTESIAN),
-                                new Point(86.692, 12.825, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 19
-                        new BezierLine(
-                                new Point(86.692, 12.825, Point.CARTESIAN),
-                                new Point(86.692, 10.390, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation()
-                .addPath(
-                        // Line 20
-                        new BezierLine(
-                                new Point(86.692, 10.390, Point.CARTESIAN),
-                                new Point(126.467, 9.903, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation();
-    }
-}

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

@@ -71,8 +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("heading error", headingError);
-        telemetry.addData("heading vector magnitude", headingVector.getMagnitude());
-        telemetry.addData("corrective vector magnitude", correctiveVector.getMagnitude());
-        telemetry.addData("corrective vector heading", correctiveVector.getTheta());
-        telemetry.addData("translational error magnitude", getTranslationalError().getMagnitude());
-        telemetry.addData("translational error direction", getTranslationalError().getTheta());
-        telemetry.addData("translational vector magnitude", translationalVector.getMagnitude());
-        telemetry.addData("translational vector heading", translationalVector.getMagnitude());
-        telemetry.addData("centripetal vector magnitude", centripetalVector.getMagnitude());
-        telemetry.addData("centripetal vector heading", centripetalVector.getTheta());
-        telemetry.addData("drive error", driveError);
-        telemetry.addData("drive vector magnitude", driveVector.getMagnitude());
-        telemetry.addData("drive vector heading", driveVector.getTheta());
-        telemetry.addData("x", getPose().getX());
-        telemetry.addData("y", getPose().getY());
-        telemetry.addData("heading", getPose().getHeading());
-        telemetry.addData("total heading", poseUpdater.getTotalHeading());
-        telemetry.addData("velocity magnitude", getVelocity().getMagnitude());
-        telemetry.addData("velocity heading", getVelocity().getTheta());
-        driveKalmanFilter.debug(telemetry);
-        telemetry.update();
-        if (drawOnDashboard) {
-            Drawing.drawDebug(this);
-        }
+//        telemetry.addData("follower busy", isBusy());
+//        telemetry.addData("heading error", headingError);
+//        telemetry.addData("heading vector magnitude", headingVector.getMagnitude());
+//        telemetry.addData("corrective vector magnitude", correctiveVector.getMagnitude());
+//        telemetry.addData("corrective vector heading", correctiveVector.getTheta());
+//        telemetry.addData("translational error magnitude", getTranslationalError().getMagnitude());
+//        telemetry.addData("translational error direction", getTranslationalError().getTheta());
+//        telemetry.addData("translational vector magnitude", translationalVector.getMagnitude());
+//        telemetry.addData("translational vector heading", translationalVector.getMagnitude());
+//        telemetry.addData("centripetal vector magnitude", centripetalVector.getMagnitude());
+//        telemetry.addData("centripetal vector heading", centripetalVector.getTheta());
+//        telemetry.addData("drive error", driveError);
+//        telemetry.addData("drive vector magnitude", driveVector.getMagnitude());
+//        telemetry.addData("drive vector heading", driveVector.getTheta());
+//        telemetry.addData("x", getPose().getX());
+//        telemetry.addData("y", getPose().getY());
+//        telemetry.addData("heading", getPose().getHeading());
+//        telemetry.addData("total heading", poseUpdater.getTotalHeading());
+//        telemetry.addData("velocity magnitude", getVelocity().getMagnitude());
+//        telemetry.addData("velocity heading", getVelocity().getTheta());
+//        driveKalmanFilter.debug(telemetry);
+//        telemetry.update();
+//        if (drawOnDashboard) {
+//            Drawing.drawDebug(this);
+//        }
     }
 
     /**

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/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;
@@ -70,6 +71,7 @@ public class PoseUpdater {
     public PoseUpdater(HardwareMap hardwareMap) {
         // TODO: replace the second argument with your preferred localizer
         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 STRAFE_TICKS_TO_INCHES = 1;
-    public static double TURN_TICKS_TO_RADIANS = 1;
+    public static double FORWARD_TICKS_TO_INCHES = -0.6308;
+    public static double STRAFE_TICKS_TO_INCHES = 46.4839;
+    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/ThreeWheelIMULocalizer.java

@@ -65,9 +65,9 @@ public class ThreeWheelIMULocalizer extends Localizer {
     private double previousIMUOrientation;
     private double deltaRadians;
     private double totalHeading;
-    public static double FORWARD_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
-    public static double STRAFE_TICKS_TO_INCHES = 0.0029;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
-    public static double TURN_TICKS_TO_RADIANS = 0.0022;//8192 * 1.37795 * 2 * Math.PI * 0.5;
+    public static double FORWARD_TICKS_TO_INCHES = 0.004;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
+    public static double STRAFE_TICKS_TO_INCHES = -0.0036;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
+    public static double TURN_TICKS_TO_RADIANS = 0.0043;//8192 * 1.37795 * 2 * Math.PI * 0.5;
 
     public static boolean useIMU = true;
 
@@ -96,9 +96,9 @@ public class ThreeWheelIMULocalizer extends Localizer {
         imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(IMU_LOGO_FACING_DIRECTION, IMU_USB_FACING_DIRECTION)));
 
         // TODO: replace these with your encoder positions
-        leftEncoderPose = new Pose(0, 6.19375, 0);
-        rightEncoderPose = new Pose(0, -6.19375, 0);
-        strafeEncoderPose = new Pose(-7, 0, Math.toRadians(90));
+        leftEncoderPose = new Pose(-7.625, 6.19375, 0);
+        rightEncoderPose = new Pose(-7.625, -6.19375, 0);
+        strafeEncoderPose = new Pose(7, 1, Math.toRadians(90));
 
         // TODO: replace these with your encoder ports
         leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));

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

@@ -57,8 +57,11 @@ 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 = 0.0029;//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 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;
 
     /**
@@ -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);
-       // rightEncoder.setDirection(Encoder.REVERSE);
-        //strafeEncoder.setDirection(Encoder.FORWARD);
+        leftEncoder.setDirection(LEFT_ENCODER_DIRECTION);
+        rightEncoder.setDirection(RIGHT_ENCODER_DIRECTION);
+        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

@@ -53,14 +53,14 @@ public class FollowerConstants {
             0);
 
     // Feed forward constant added on to the translational PIDF
-    public static double translationalPIDFFeedForward = 0.00;
+    public static double translationalPIDFFeedForward = 0.015;
 
 
     // Heading error PIDF coefficients
     public static CustomPIDFCoefficients headingPIDFCoefficients = new CustomPIDFCoefficients(
             2,
             0,
-            0.025,
+            .025,
             0);
 
     // Feed forward constant added on to the heading PIDF

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

@@ -93,13 +93,11 @@ public class ForwardVelocityTuner extends OpMode {
         }
 
         telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
-//        telemetryA.addLine("The robot will run at 1 power until it reaches " + DISTANCE + " inches forward.");
-//        telemetryA.addLine("Make sure you have enough room, since the robot has inertia after cutting power.");
-//        telemetryA.addLine("After running the distance, the robot will cut power from the drivetrain and display the forward velocity.");
-//        telemetryA.addLine("Press CROSS or A on game pad 1 to stop.");
-//
-//
-//        telemetryA.update();
+        telemetryA.addLine("The robot will run at 1 power until it reaches " + DISTANCE + " inches forward.");
+        telemetryA.addLine("Make sure you have enough room, since the robot has inertia after cutting power.");
+        telemetryA.addLine("After running the distance, the robot will cut power from the drivetrain and display the forward velocity.");
+        telemetryA.addLine("Press CROSS or A on game pad 1 to stop.");
+        telemetryA.update();
 
     }
 
@@ -140,13 +138,6 @@ public class ForwardVelocityTuner extends OpMode {
                 velocities.add(currentVelocity);
                 velocities.remove(0);
             }
-            telemetryA.addData("x", poseUpdater.getPose().getX());
-            telemetryA.addData("y", poseUpdater.getPose().getY());
-            telemetryA.addData("heading", poseUpdater.getPose().getHeading());
-            telemetryA.addData("velo mag", poseUpdater.getVelocity().getMagnitude());
-            telemetryA.addData("velo ", poseUpdater.getVelocity().getTheta());
-            telemetryA.update();
-
         } else {
             double average = 0;
             for (Double velocity : velocities) {
@@ -155,12 +146,7 @@ public class ForwardVelocityTuner extends OpMode {
             average /= (double) velocities.size();
 
             telemetryA.addData("forward velocity:", average);
-//            telemetryA.addData("x", poseUpdater.getPose().getX());
-//            telemetryA.addData("y", poseUpdater.getPose().getY());
-//            telemetryA.addData("heading", poseUpdater.getPose().getHeading());
-//            telemetryA.addData("velo mag", poseUpdater.getVelocity().getMagnitude());
-//            telemetryA.addData("velo ", poseUpdater.getVelocity().getTheta());
-//            telemetryA.update();
+            telemetryA.update();
         }
     }
 }

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/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

@@ -1,42 +1,34 @@
 package org.firstinspires.ftc.teamcode.subsystem;
 
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
 
 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 AutoLine1 {
 
-    private PathChain pathChain;
-    private Pose autoLin1StartPose = new Pose(8,65);
+    private Pose startPose = new Pose(36, 72);
 
-    public void moveToAutoLine1(Follower robot) {
+    public void moveToPath1(Follower robot) {
+        PathChain pathChain;
+        robot.setStartingPose(startPose);
         PathBuilder builder = new PathBuilder();
         builder
                 .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(8.000, 65.000, Point.CARTESIAN),
-                                new Point(30.000, 72.000, Point.CARTESIAN)
+                        new BezierCurve(
+                                new Point(36.000, 72.000, Point.CARTESIAN),
+                                new Point(37.500, 72.000, Point.CARTESIAN)
                         )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0));
+                );
         pathChain = builder.build();
-        robot.setStartingPose(autoLin1StartPose);
         robot.followPath(pathChain);
     }
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystem/AutoLine3.java

@@ -1,73 +0,0 @@
-package org.firstinspires.ftc.teamcode.subsystem;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
-
-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 AutoLine3 implements Action {
-
-    private Follower actionRobot;
-    private PathChain pathChain;
-
-    private Pose startPose = new Pose(56,24);
-
-    public AutoLine3(Follower robot) {
-        this.actionRobot = robot;
-        this.actionRobot.setStartingPose(startPose);
-
-        PathBuilder builder = new PathBuilder();
-        builder
-         /*       .addPath(
-                        // Line 1
-                        new BezierLine(
-                                new Point(8.000, 65.000, Point.CARTESIAN),
-                                new Point(30.000, 72.000, Point.CARTESIAN)
-//           This is the origional                     new Point(36.000, 72.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 2
-                        new BezierCurve(
-                                new Point(36.000, 72.000, Point.CARTESIAN),
-                                new Point(24.000, 24.000, Point.CARTESIAN),
-                                new Point(72.000, 36.000, Point.CARTESIAN),
-                                new Point(56.000, 24.000, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(180))          */
-                .addPath(
-                   // Line 3
-                   new BezierLine(
-                            new Point(56.000, 24.000, Point.CARTESIAN),
-                             new Point(18.000, 24.000, Point.CARTESIAN)
-                        )
-                )
-                .setTangentHeadingInterpolation();
-
-        pathChain = builder.build();
-
-        this.actionRobot.followPath(this.pathChain);
-    }
-
-    @Override
-    public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-        this.actionRobot.update();
-        return this.actionRobot.isBusy();
-    }
-}
-

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

@@ -1,14 +1,9 @@
 package org.firstinspires.ftc.teamcode.subsystem;
 
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
 
 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;
@@ -18,23 +13,26 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
     AutoLine# - This file does something of a path......
 
  */
-public class AutoLine2 {
-    private PathChain pathChain;
-    public void moveToAutoLine2(Follower robot) {
+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(
-                        // Line 2
                         new BezierCurve(
-                                new Point(36.000, 72.000, Point.CARTESIAN),
-                                new Point(24.000, 24.000, Point.CARTESIAN),
-                                new Point(72.000, 36.000, Point.CARTESIAN),
-                                new Point(56.000, 24.000, Point.CARTESIAN)
+                                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(180));
+                .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

@@ -8,12 +8,7 @@ import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
 import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
 import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
 import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
-import static org.firstinspires.ftc.teamcode.PedroConstants.MAX_POWER;
 
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.Action;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.Gamepad;
 import com.qualcomm.robotcore.hardware.HardwareMap;
@@ -41,7 +36,7 @@ public class MotorsSubsystem {
     public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry) {
         this.hardwareMap = hardwareMap;
         this.telemetry = telemetry;
-        this.power = MAX_POWER;
+        this.power = 1.0;
     }
 
     public MotorsSubsystem(HardwareMap hardwareMap, Telemetry telemetry, double power) {
@@ -85,6 +80,46 @@ public class MotorsSubsystem {
         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;

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

@@ -20,5 +20,5 @@ dependencies {
     implementation "com.acmerobotics.roadrunner:core:1.0.0"
     implementation "com.acmerobotics.roadrunner:actions:1.0.0"
     implementation "com.acmerobotics.dashboard:dashboard:0.4.16"
-}
 
+}