Merge branch 'branch-rc-chassis-14493' into branch-black-14493

TeamCode/src/main/java/ServoPractice.java

@@ -0,0 +1,27 @@
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.Servo;
+
+public class ServoPractice extends OpMode {
+    //servo
+    Servo test_servo;
+
+
+    public void init(){
+        //hw map
+        test_servo = hardwareMap.get(Servo.class, "test_servo");
+    }
+    public void loop(){
+        //make it move
+        test_servo.setPosition(0);
+        try {
+            Thread.sleep(500);
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+        test_servo.setPosition(1);
+    }
+    public void stop(){
+
+    }
+}

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

@@ -0,0 +1,122 @@
+package org.firstinspires.ftc.teamcode;
+
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
+
+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 com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+
+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", group = "Autonomous Pathing Tuning")
+public class AutoExample extends OpMode {
+    private Telemetry telemetryA;
+
+    private Follower follower;
+
+    private PathChain path;
+
+    private final Pose startPose = new Pose(12.0, 11, 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(.6);
+
+        follower.setStartingPose(startPose);
+
+        path = follower.pathBuilder()
+                .addPath(
+                        // Line 1
+                        new BezierLine(
+                                new Point(12.804, 11.223, Point.CARTESIAN),
+                                new Point(12.804, 42.362, Point.CARTESIAN)
+                        )
+                )
+                .setTangentHeadingInterpolation()
+                .addPath(
+                        // Line 2
+                        new BezierCurve(
+                                new Point(12.804, 42.362, Point.CARTESIAN),
+                                new Point(11.381, 57.379, Point.CARTESIAN),
+                                new Point(31.614, 56.588, Point.CARTESIAN)
+                        )
+                )
+                .setTangentHeadingInterpolation()
+                .addPath(
+                        // Line 3
+                        new BezierLine(
+                                new Point(31.614, 56.588, Point.CARTESIAN),
+                                new Point(51.214, 56.746, Point.CARTESIAN)
+                        )
+                )
+                .setTangentHeadingInterpolation()
+                .addPath(
+                        // Line 4
+                        new BezierCurve(
+                                new Point(51.214, 56.746, Point.CARTESIAN),
+                                new Point(64.334, 58.643, Point.CARTESIAN),
+                                new Point(61.172, 45.524, Point.CARTESIAN)
+                        )
+                )
+                .setTangentHeadingInterpolation()
+                .addPath(
+                        // Line 5
+                        new BezierCurve(
+                                new Point(61.172, 45.524, Point.CARTESIAN),
+                                new Point(36.198, 26.239, Point.CARTESIAN),
+                                new Point(19.759, 11.065, Point.CARTESIAN)
+                        )
+                )
+                .setTangentHeadingInterpolation()
+                .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/AutoExampleTwo.java

@@ -0,0 +1,95 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierCurve;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
+
+/**
+ * This is the Circle autonomous OpMode. It runs the robot in a PathChain that's actually not quite
+ * a circle, but some Bezier curves that have control points set essentially in a square. However,
+ * it turns enough to tune your centripetal force correction and some of your heading. Some lag in
+ * heading is to be expected.
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @author Aaron Yang - 10158 Scott's Bots
+ * @author Harrison Womack - 10158 Scott's Bots
+ * @version 1.0, 3/12/2024
+ */
+@Config
+@Autonomous(name = "AutoExampleTwo", 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, 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()
+                .addPath(
+                        // Line 1
+                        new BezierLine(
+                                new Point(10.000, 40.000, Point.CARTESIAN),
+                                new Point(60.000, 40.000, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(90))
+                .addPath(
+                        // Line 2
+                        new BezierLine(
+                                new Point(60.000, 40.000, 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(10.000, 25.000, 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/BasicOmniOpMode_Linear.java

@@ -0,0 +1,230 @@
+/* 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;
+
+<<<<<<< HEAD
+=======
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
+>>>>>>> branch-rc-chassis-14493
+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;
+<<<<<<< HEAD
+=======
+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;
+>>>>>>> branch-rc-chassis-14493
+
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+<<<<<<< HEAD
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+=======
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
+
+>>>>>>> branch-rc-chassis-14493
+/*
+ * 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.
+<<<<<<< HEAD
+    private ElapsedTime runtime = new ElapsedTime();
+    private DcMotor leftFrontDrive = null;
+    private DcMotor leftBackDrive = null;
+    private DcMotor rightFrontDrive = null;
+    private DcMotor rightBackDrive = null;
+=======
+    private final ElapsedTime runtime = new ElapsedTime();
+>>>>>>> branch-rc-chassis-14493
+
+    @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.
+<<<<<<< HEAD
+        leftFrontDrive  = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
+        leftBackDrive  = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
+        rightFrontDrive = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
+        rightBackDrive = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
+=======
+        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);
+>>>>>>> branch-rc-chassis-14493
+
+        // ########################################################################################
+        // !!!            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");
+<<<<<<< HEAD
+=======
+        telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
+        telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
+        telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
+>>>>>>> branch-rc-chassis-14493
+        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);
+<<<<<<< HEAD
+=======
+            telemetry.addData("Left Encoder Value", leftEncoder.getDeltaPosition());
+            telemetry.addData("Right Encoder Value", rightEncoder.getDeltaPosition());
+            telemetry.addData("Strafe Encoder Value", strafeEncoder.getDeltaPosition());
+>>>>>>> branch-rc-chassis-14493
+            telemetry.update();
+        }
+    }}

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

@@ -0,0 +1,73 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+import com.qualcomm.robotcore.hardware.DcMotorSimple.Direction;
+
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
+
+public class PedroConstants {
+
+    /*
+        Robot parameters
+    */
+    // Turn localizer - -0.003
+
+
+    // Robot motor configurations
+    public static final String FRONT_LEFT_MOTOR = "Drive front lt";
+    public static final String BACK_LEFT_MOTOR  = "Drive back lt";
+    public static final String FRONT_RIGHT_MOTOR  = "Drive front rt";
+    public static final String BACK_RIGHT_MOTOR  = "Drive back rt";
+
+    // Robot motor direction
+    public static final Direction FRONT_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
+    public static final Direction BACK_LEFT_MOTOR_DIRECTION = Direction.REVERSE;
+    public static final Direction FRONT_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
+    public static final Direction BACK_RIGHT_MOTOR_DIRECTION = Direction.FORWARD;
+
+    // Robot IMU configuration
+    public static final String IMU = "imu";
+
+    // Robot IMU placement
+    public static final RevHubOrientationOnRobot.LogoFacingDirection IMU_LOGO_FACING_DIRECTION
+            = RevHubOrientationOnRobot.LogoFacingDirection.DOWN;
+    public static final RevHubOrientationOnRobot.UsbFacingDirection IMU_USB_FACING_DIRECTION
+            = RevHubOrientationOnRobot.UsbFacingDirection.LEFT;
+
+    // Robot encoders
+    public static final String LEFT_ENCODER = "encoder left";
+    public static final String RIGHT_ENCODER = "encoder right";
+    public static final String BACK_ENCODER = "encoder back";
+
+    // Robot encoder direction
+    public static final double LEFT_ENCODER_DIRECTION = Encoder.REVERSE;
+    public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD;
+    public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD;
+
+    /*
+        Pedro's parameters
+    */
+    // -0.0708
+
+    // The weight of the robot in Kilograms
+    public static final double ROBOT_WEIGHT_IN_KG = 10.5;
+
+    // Maximum velocity of the robot going forward
+    public static final double ROBOT_SPEED_FORWARD = 51.4598;
+
+    // Maximum velocity of the robot going right
+    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 = -57.805;
+
+    // Rate of deceleration when power is cut-off when the robot is moving to the right
+    public static final double LATERAL_ZERO_POWER_ACCEL = -99.672;
+
+    // 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;
+
+    /* Centripetal force correction - increase if robot is correcting into the path
+                                    - decrease if robot is correcting away from the path */
+    public static final double CENTRIPETAL_SCALING = 0.0004;
+}

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

@@ -1,36 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-public class PedrosConstants {
-
-    // Robot motor configurations
-    public static final String FRONT_LEFT_MOTOR = "Drive front lt";
-    public static final String BACK_LEFT_MOTOR  = "Drive back lt";
-    public static final String FRONT_RIGHT_MOTOR  = "Drive front rt";
-    public static final String BACK_RIGHT_MOTOR  = "Drive back rt";
-
-    /*
-        Pedro's parameters
-     */
-
-    // The weight of the robot in Kilograms
-    public static final double ROBOT_WEIGHT_IN_KG = 10.65942;
-
-    // Maximum velocity of the robot going forward
-    public static final double ROBOT_SPEED_FORWARD = 81.34056;
-
-    // Maximum velocity of the robot going right
-    public static final double ROBOT_SPEED_LATERAL = 65.43028;
-
-    // Rate of deceleration when power is cut-off when the robot is moving forward
-    public static final double FORWARD_ZERO_POWER_ACCEL = -34.62719;
-
-    // Rate of deceleration when power is cut-off when the robot is moving to the right
-    public static final double LATERAL_ZERO_POWER_ACCEL = -78.15554;
-
-    // Determines how fast your robot will decelerate as a factor of how fast your robot will coast to a stop
-    public static final double ZERO_POWER_ACCEL_MULT = 4;
-
-    /* Centripetal force correction - increase if robot is correcting into the path
-                                    - decrease if robot is correcting away from the path */
-    public static final double CENTRIPETAL_SCALING = 0.0005;
-}

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

@@ -0,0 +1,171 @@
+/* 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;
+
+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.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/SlideArm.java

@@ -0,0 +1,165 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+import org.firstinspires.ftc.robotcontroller.external.samples.UtilityOctoQuadConfigMenu;
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+
+
+@TeleOp(name = "ArmControl")
+public class SlideArm extends OpMode {
+
+
+
+    DcMotor Slide;
+    Servo ClawServo;
+    Servo ArmServo;
+    Servo WristServo;
+    boolean xPressed;
+    boolean yPressed;
+    boolean bPressed;
+    double ticks = 753.2;
+
+
+    public void init(){
+        Slide = hardwareMap.get(DcMotor.class, "SlideMotor");
+        ArmServo = hardwareMap.get(Servo.class,"WristServo");
+        WristServo = hardwareMap.get(Servo.class, "ArmServo");
+        ClawServo = hardwareMap.get(Servo.class, "ClawServo");
+        xPressed = false;
+        yPressed = false;
+        bPressed = false;
+    }
+
+    double power = 0;
+    double position = 1;
+
+    public void loop() {
+        Slide.setPower(-gamepad2.left_stick_y);
+        Slide.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        if (gamepad2.left_bumper) {
+            ClawServo.setPosition(0);
+        } else if (gamepad2.right_bumper) {
+            ClawServo.setPosition(1);
+        }
+
+        /*if(gamepad2.dpad_down){
+            WristServo.setPosition(0.78);
+            ArmServo.setPosition(0.55);
+        }
+        else if (gamepad2.dpad_up){
+            WristServo.setPosition(0.4);
+            ArmServo.setPosition(0.2);
+
+        }*/
+        if (gamepad2.a) {
+            Slide.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        }
+
+        if (gamepad2.dpad_down) {
+            SlideArm.ServoSteps(WristServo, 0.78, 4, 8);
+            try {
+                Thread.sleep(50);
+            } catch (InterruptedException e) {
+                throw new RuntimeException(e);
+            }
+            SlideArm.ServoSteps(ArmServo, 0.55, 10, 5);
+        } else if (gamepad2.dpad_up) {
+
+            WristServo.setPosition(0.4);
+            ArmServo.setPosition(0.2);
+
+        }
+
+        telemetry.addData("Slide Ticks", Slide.getCurrentPosition());
+        telemetry.update();
+        //limit = 6600;
+
+
+        if (gamepad2.x) {
+            xPressed = true;
+        }
+
+        while (xPressed && Slide.getCurrentPosition() < 6300) {
+            Slide.setPower(0.6);
+            Slide.setTargetPosition(6300);
+            Slide.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            telemetry.addData("In While Loop:", Slide.getCurrentPosition());
+            telemetry.update();
+        }
+        if (xPressed && Slide.getCurrentPosition() >= 6300)
+        {
+            xPressed = false;
+        }
+
+        Slide.setPower(0);
+
+        if (gamepad2.y) {
+            yPressed = false;
+        }
+
+        while (yPressed && Slide.getCurrentPosition() < 3150) {
+            Slide.setPower(0.6);
+            Slide.setTargetPosition(3150);
+            Slide.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            telemetry.addData("In While Loop:", Slide.getCurrentPosition());
+            telemetry.update();
+        }
+        Slide.setPower(0);
+        if (yPressed && Slide.getCurrentPosition() >= 3150)
+        {
+            yPressed = false;
+        }
+        if (gamepad2.b) {
+            bPressed = !bPressed;
+        }
+
+        while (bPressed && Slide.getCurrentPosition() > 0) {
+            Slide.setPower(0.6);
+            Slide.setTargetPosition(0);
+            Slide.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            telemetry.addData("In While Loop:", Slide.getCurrentPosition());
+            telemetry.update();
+        }
+        Slide.setPower(0);
+        if (xPressed && Slide.getCurrentPosition() >= 0)
+        {
+            bPressed = false;
+        } }
+
+    /**
+     * This function takes 4 parameters and makes your servo move in multiple steps for precision
+     * @param servo the servo you want to move
+     * @param targetPosition the position you want to go to
+     * @param Steps how many steps you want to move before reaching targetPosition
+     * @param millis how much to sleep between steps
+     */
+    public static void ServoSteps (Servo servo, double targetPosition, int Steps, long millis){
+        double startingPosition = servo.getPosition();
+        double howFarToMove = targetPosition-startingPosition;
+        double Increment = howFarToMove/Steps;
+        double currentPosition = startingPosition;
+        for(int i = 0; i < Steps; i ++) {
+            servo.setPosition(currentPosition + Increment);
+            currentPosition += Increment;
+            try {
+                Thread.sleep(millis);
+            } catch (InterruptedException e) {
+                throw new RuntimeException(e);
+            }
+        }
+
+    }
+
+
+
+    public void stop(){
+
+    }
+
+
+}

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

@@ -2,4 +2,6 @@
 
 ## Pedro Pathing
 
-- `https://pedro-path-generator.vercel.app/`
+- Pedro Path Generator: `https://pedro-path-generator.vercel.app/`
+- Pedro Path Overview: `https://www.youtube.com/watch?v=HI7eyLLpCgM`
+- Pedro Tuning Overview: `https://www.youtube.com/watch?v=3EXX5_KwfVM`

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

@@ -71,7 +71,8 @@ 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

@@ -1,5 +1,6 @@
 package org.firstinspires.ftc.teamcode.pedroPathing.follower;
 
+import static org.firstinspires.ftc.teamcode.PedroConstants.*;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.drivePIDFSwitch;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.forwardZeroPowerAcceleration;
 import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.headingPIDFSwitch;
@@ -168,8 +169,10 @@ public class Follower {
         rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
 
         // TODO: Make sure that this is the direction your motors need to be reversed in.
-        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-        leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
+        leftFront.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
+        leftRear.setDirection(BACK_LEFT_MOTOR_DIRECTION);
+        rightFront.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
+        rightRear.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
 
         motors = Arrays.asList(leftFront, leftRear, rightFront, rightRear);
 

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

@@ -1,5 +1,7 @@
 package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
 
+import static org.firstinspires.ftc.teamcode.PedroConstants.*;
+
 import com.acmerobotics.dashboard.config.Config;
 import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
@@ -63,9 +65,9 @@ public class ThreeWheelIMULocalizer extends Localizer {
     private double previousIMUOrientation;
     private double deltaRadians;
     private double totalHeading;
-    public static double FORWARD_TICKS_TO_INCHES = 0.002957;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
-    public static double STRAFE_TICKS_TO_INCHES = -0.003127403096038503;//8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
-    public static double TURN_TICKS_TO_RADIANS = 0.002995;//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;
 
@@ -88,26 +90,25 @@ public class ThreeWheelIMULocalizer extends Localizer {
      */
     public ThreeWheelIMULocalizer(HardwareMap map, Pose setStartPose) {
         hardwareMap = map;
-        imu = hardwareMap.get(IMU.class, "imu");
+        imu = hardwareMap.get(IMU.class, IMU);
 
         // TODO: replace this with your IMU's orientation
-        imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(RevHubOrientationOnRobot.LogoFacingDirection.LEFT, RevHubOrientationOnRobot.UsbFacingDirection.UP)));
+        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(-3, 5.7, 0);
-        rightEncoderPose = new Pose(-3, -5.7, 0);
-        strafeEncoderPose = new Pose(6.9, 1, 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, "lb"));
-        rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "lf"));
-        strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "rf"));
+        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(Encoder.REVERSE);
-        rightEncoder.setDirection(Encoder.FORWARD);
-        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/localizers/ThreeWheelLocalizer.java

@@ -1,5 +1,7 @@
 package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
 
+import static org.firstinspires.ftc.teamcode.PedroConstants.*;
+
 import com.acmerobotics.dashboard.config.Config;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.HardwareMap;
@@ -55,9 +57,12 @@ public class ThreeWheelLocalizer extends Localizer {
     private Pose rightEncoderPose;
     private Pose strafeEncoderPose;
     private double totalHeading;
-    public static double FORWARD_TICKS_TO_INCHES = 0.00052189;//8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
-    public static double STRAFE_TICKS_TO_INCHES = 0.00052189;//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 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;
 
     /**
      * This creates a new ThreeWheelLocalizer from a HardwareMap, with a starting Pose at (0,0)
@@ -78,21 +83,21 @@ public class ThreeWheelLocalizer extends Localizer {
      */
     public ThreeWheelLocalizer(HardwareMap map, Pose setStartPose) {
         // TODO: replace these with your encoder positions
-        leftEncoderPose = new Pose(-18.5/25.4 - 0.1, 164.4/25.4, 0);
-        rightEncoderPose = new Pose(-18.4/25.4 - 0.1, -159.6/25.4, 0);
-        strafeEncoderPose = new Pose(0*(-107.9/25.4+8)+-107.9/25.4+0.25, -1.1/25.4-0.23, Math.toRadians(90));
+        leftEncoderPose = new Pose(0, 6.19375, 0);
+        rightEncoderPose = new Pose(0, -6.19375, 0);
+        strafeEncoderPose = new Pose(-7, 0, Math.toRadians(90));
 
         hardwareMap = map;
 
         // TODO: replace these with your encoder ports
-        leftEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "leftRear"));
-        rightEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "rightFront"));
-        strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "strafeEncoder"));
+        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(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/localizers/TwoWheelLocalizer.java

@@ -1,5 +1,8 @@
 package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
 
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
+import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER;
+
 import com.acmerobotics.dashboard.config.Config;
 import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
@@ -91,8 +94,8 @@ public class TwoWheelLocalizer extends Localizer { // todo: make two wheel odo w
         imu.initialize(new IMU.Parameters(new RevHubOrientationOnRobot(RevHubOrientationOnRobot.LogoFacingDirection.UP, RevHubOrientationOnRobot.UsbFacingDirection.LEFT)));
 
         // TODO: replace these with your encoder ports
-        forwardEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "leftRear"));
-        strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, "strafeEncoder"));
+        forwardEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, LEFT_ENCODER));
+        strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
 
         // TODO: reverse any encoders necessary
         forwardEncoder.setDirection(Encoder.REVERSE);

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/tuning/FollowerConstants.java

@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.pedroPathing.tuning;
 
-import static org.firstinspires.ftc.teamcode.PedrosConstants.*;
+import static org.firstinspires.ftc.teamcode.PedroConstants.*;
 
 import com.acmerobotics.dashboard.config.Config;
 
@@ -42,7 +42,7 @@ public class FollowerConstants {
     public static CustomPIDFCoefficients translationalPIDFCoefficients = new CustomPIDFCoefficients(
             0.1,
             0,
-            0,
+            0.01,
             0);
 
     // Translational Integral
@@ -58,10 +58,10 @@ public class FollowerConstants {
 
     // Heading error PIDF coefficients
     public static CustomPIDFCoefficients headingPIDFCoefficients = new CustomPIDFCoefficients(
-            1,
+            2,
             0,
-            0,
-            0);
+            .075,
+            -.03125);
 
     // Feed forward constant added on to the heading PIDF
     public static double headingPIDFFeedForward = 0.01;
@@ -69,10 +69,10 @@ public class FollowerConstants {
 
     // Drive PIDF coefficients
     public static CustomFilteredPIDFCoefficients drivePIDFCoefficients = new CustomFilteredPIDFCoefficients(
-            0.025,
+            0.006,
             0,
             0.00001,
-            0.6,
+            0.8,
             0);
 
     // Feed forward constant added on to the drive PIDF

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

@@ -52,7 +52,7 @@ public class LateralZeroPowerAccelerationTuner extends OpMode {
 
     private PoseUpdater poseUpdater;
 
-    public static double VELOCITY = 30;
+    public static double VELOCITY = 50;
 
     private double previousVelocity;
 
@@ -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();
         }

build.dependencies.gradle

@@ -6,14 +6,14 @@ repositories {
 }
 
 dependencies {
-    implementation 'org.firstinspires.ftc:Inspection:10.0.0'
-    implementation 'org.firstinspires.ftc:Blocks:10.0.0'
-    implementation 'org.firstinspires.ftc:RobotCore:10.0.0'
-    implementation 'org.firstinspires.ftc:RobotServer:10.0.0'
-    implementation 'org.firstinspires.ftc:OnBotJava:10.0.0'
-    implementation 'org.firstinspires.ftc:Hardware:10.0.0'
-    implementation 'org.firstinspires.ftc:FtcCommon:10.0.0'
-    implementation 'org.firstinspires.ftc:Vision:10.0.0'
+    implementation 'org.firstinspires.ftc:Inspection:10.1.0'
+    implementation 'org.firstinspires.ftc:Blocks:10.1.0'
+    implementation 'org.firstinspires.ftc:RobotCore:10.1.0'
+    implementation 'org.firstinspires.ftc:RobotServer:10.1.0'
+    implementation 'org.firstinspires.ftc:OnBotJava:10.1.0'
+    implementation 'org.firstinspires.ftc:Hardware:10.1.0'
+    implementation 'org.firstinspires.ftc:FtcCommon:10.1.0'
+    implementation 'org.firstinspires.ftc:Vision:10.1.0'
     implementation 'androidx.appcompat:appcompat:1.2.0'
 
     implementation 'com.acmerobotics.dashboard:dashboard:0.4.5'