Commit

# Conflicts:
#	TeamCode/src/main/java/org/firstinspires/ftc/teamcode/DevTeleop.java

.gitignore

@@ -78,7 +78,4 @@ lint/intermediates/
 lint/generated/
 lint/outputs/
 lint/tmp/
-# lint/reports/
-
-.DS_Store
-/.idea
+# lint/reports/

FtcRobotController/src/main/AndroidManifest.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
-    android:versionCode="54"
-          android:versionName="9.2">
+    android:versionCode="55"
+      android:versionName="10.0">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOmniOpMode_Linear.java

@@ -99,7 +99,7 @@ public class BasicOmniOpMode_Linear extends LinearOpMode {
         rightFrontDrive.setDirection(DcMotor.Direction.FORWARD);
         rightBackDrive.setDirection(DcMotor.Direction.FORWARD);
 
-        // Wait for the game to start (driver presses PLAY)
+        // Wait for the game to start (driver presses START)
         telemetry.addData("Status", "Initialized");
         telemetry.update();
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Iterative.java

@@ -83,14 +83,14 @@ public class BasicOpMode_Iterative extends OpMode
     }
 
     /*
-     * Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY
+     * Code to run REPEATEDLY after the driver hits INIT, but before they hit START
      */
     @Override
     public void init_loop() {
     }
 
     /*
-     * Code to run ONCE when the driver hits PLAY
+     * Code to run ONCE when the driver hits START
      */
     @Override
     public void start() {
@@ -98,7 +98,7 @@ public class BasicOpMode_Iterative extends OpMode
     }
 
     /*
-     * Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
+     * Code to run REPEATEDLY after the driver hits START but before they hit STOP
      */
     @Override
     public void loop() {

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/BasicOpMode_Linear.java

@@ -76,7 +76,7 @@ public class BasicOpMode_Linear extends LinearOpMode {
         leftDrive.setDirection(DcMotor.Direction.REVERSE);
         rightDrive.setDirection(DcMotor.Direction.FORWARD);
 
-        // Wait for the game to start (driver presses PLAY)
+        // Wait for the game to start (driver presses START)
         waitForStart();
         runtime.reset();
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTag.java

@@ -88,7 +88,7 @@ public class ConceptAprilTag extends LinearOpMode {
 
         // Wait for the DS start button to be touched.
         telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
-        telemetry.addData(">", "Touch Play to start OpMode");
+        telemetry.addData(">", "Touch START to start OpMode");
         telemetry.update();
         waitForStart();
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagEasy.java

@@ -84,7 +84,7 @@ public class ConceptAprilTagEasy extends LinearOpMode {
 
         // Wait for the DS start button to be touched.
         telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
-        telemetry.addData(">", "Touch Play to start OpMode");
+        telemetry.addData(">", "Touch START to start OpMode");
         telemetry.update();
         waitForStart();
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagLocalization.java

@@ -0,0 +1,244 @@
+/* Copyright (c) 2024 Dryw Wade. 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.robotcontroller.external.samples;
+
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.Position;
+import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+import java.util.List;
+
+/*
+ * This OpMode illustrates the basics of AprilTag based localization.
+ *
+ * For an introduction to AprilTags, see the FTC-DOCS link below:
+ * https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html
+ *
+ * In this sample, any visible tag ID will be detected and displayed, but only tags that are included in the default
+ * "TagLibrary" will be used to compute the robot's location and orientation.  This default TagLibrary contains
+ * the current Season's AprilTags and a small set of "test Tags" in the high number range.
+ *
+ * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the robot, relative to the field origin.
+ * This information is provided in the "robotPose" member of the returned "detection".
+ *
+ * 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 = "Concept: AprilTag Localization", group = "Concept")
+@Disabled
+public class ConceptAprilTagLocalization extends LinearOpMode {
+
+    private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
+
+    /**
+     * Variables to store the position and orientation of the camera on the robot. Setting these
+     * values requires a definition of the axes of the camera and robot:
+     *
+     * Camera axes:
+     * Origin location: Center of the lens
+     * Axes orientation: +x right, +y down, +z forward (from camera's perspective)
+     *
+     * Robot axes (this is typical, but you can define this however you want):
+     * Origin location: Center of the robot at field height
+     * Axes orientation: +x right, +y forward, +z upward
+     *
+     * Position:
+     * If all values are zero (no translation), that implies the camera is at the center of the
+     * robot. Suppose your camera is positioned 5 inches to the left, 7 inches forward, and 12
+     * inches above the ground - you would need to set the position to (-5, 7, 12).
+     *
+     * Orientation:
+     * If all values are zero (no rotation), that implies the camera is pointing straight up. In
+     * most cases, you'll need to set the pitch to -90 degrees (rotation about the x-axis), meaning
+     * the camera is horizontal. Use a yaw of 0 if the camera is pointing forwards, +90 degrees if
+     * it's pointing straight left, -90 degrees for straight right, etc. You can also set the roll
+     * to +/-90 degrees if it's vertical, or 180 degrees if it's upside-down.
+     */
+    private Position cameraPosition = new Position(DistanceUnit.INCH,
+            0, 0, 0, 0);
+    private YawPitchRollAngles cameraOrientation = new YawPitchRollAngles(AngleUnit.DEGREES,
+            0, -90, 0, 0);
+
+    /**
+     * The variable to store our instance of the AprilTag processor.
+     */
+    private AprilTagProcessor aprilTag;
+
+    /**
+     * The variable to store our instance of the vision portal.
+     */
+    private VisionPortal visionPortal;
+
+    @Override
+    public void runOpMode() {
+
+        initAprilTag();
+
+        // Wait for the DS start button to be touched.
+        telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
+        telemetry.addData(">", "Touch START to start OpMode");
+        telemetry.update();
+        waitForStart();
+
+        while (opModeIsActive()) {
+
+            telemetryAprilTag();
+
+            // Push telemetry to the Driver Station.
+            telemetry.update();
+
+            // Save CPU resources; can resume streaming when needed.
+            if (gamepad1.dpad_down) {
+                visionPortal.stopStreaming();
+            } else if (gamepad1.dpad_up) {
+                visionPortal.resumeStreaming();
+            }
+
+            // Share the CPU.
+            sleep(20);
+        }
+
+        // Save more CPU resources when camera is no longer needed.
+        visionPortal.close();
+
+    }   // end method runOpMode()
+
+    /**
+     * Initialize the AprilTag processor.
+     */
+    private void initAprilTag() {
+
+        // Create the AprilTag processor.
+        aprilTag = new AprilTagProcessor.Builder()
+
+                // The following default settings are available to un-comment and edit as needed.
+                //.setDrawAxes(false)
+                //.setDrawCubeProjection(false)
+                //.setDrawTagOutline(true)
+                //.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11)
+                //.setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary())
+                //.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
+                .setCameraPose(cameraPosition, cameraOrientation)
+
+                // == CAMERA CALIBRATION ==
+                // If you do not manually specify calibration parameters, the SDK will attempt
+                // to load a predefined calibration for your camera.
+                //.setLensIntrinsics(578.272, 578.272, 402.145, 221.506)
+                // ... these parameters are fx, fy, cx, cy.
+
+                .build();
+
+        // Adjust Image Decimation to trade-off detection-range for detection-rate.
+        // eg: Some typical detection data using a Logitech C920 WebCam
+        // Decimation = 1 ..  Detect 2" Tag from 10 feet away at 10 Frames per second
+        // Decimation = 2 ..  Detect 2" Tag from 6  feet away at 22 Frames per second
+        // Decimation = 3 ..  Detect 2" Tag from 4  feet away at 30 Frames Per Second (default)
+        // Decimation = 3 ..  Detect 5" Tag from 10 feet away at 30 Frames Per Second (default)
+        // Note: Decimation can be changed on-the-fly to adapt during a match.
+        //aprilTag.setDecimation(3);
+
+        // Create the vision portal by using a builder.
+        VisionPortal.Builder builder = new VisionPortal.Builder();
+
+        // Set the camera (webcam vs. built-in RC phone camera).
+        if (USE_WEBCAM) {
+            builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"));
+        } else {
+            builder.setCamera(BuiltinCameraDirection.BACK);
+        }
+
+        // Choose a camera resolution. Not all cameras support all resolutions.
+        //builder.setCameraResolution(new Size(640, 480));
+
+        // Enable the RC preview (LiveView).  Set "false" to omit camera monitoring.
+        //builder.enableLiveView(true);
+
+        // Set the stream format; MJPEG uses less bandwidth than default YUY2.
+        //builder.setStreamFormat(VisionPortal.StreamFormat.YUY2);
+
+        // Choose whether or not LiveView stops if no processors are enabled.
+        // If set "true", monitor shows solid orange screen if no processors enabled.
+        // If set "false", monitor shows camera view without annotations.
+        //builder.setAutoStopLiveView(false);
+
+        // Set and enable the processor.
+        builder.addProcessor(aprilTag);
+
+        // Build the Vision Portal, using the above settings.
+        visionPortal = builder.build();
+
+        // Disable or re-enable the aprilTag processor at any time.
+        //visionPortal.setProcessorEnabled(aprilTag, true);
+
+    }   // end method initAprilTag()
+
+    /**
+     * Add telemetry about AprilTag detections.
+     */
+    private void telemetryAprilTag() {
+
+        List<AprilTagDetection> currentDetections = aprilTag.getDetections();
+        telemetry.addData("# AprilTags Detected", currentDetections.size());
+
+        // Step through the list of detections and display info for each one.
+        for (AprilTagDetection detection : currentDetections) {
+            if (detection.metadata != null) {
+                telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
+                telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)",
+                        detection.robotPose.getPosition().x,
+                        detection.robotPose.getPosition().y,
+                        detection.robotPose.getPosition().z));
+                telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)",
+                        detection.robotPose.getOrientation().getPitch(AngleUnit.DEGREES),
+                        detection.robotPose.getOrientation().getRoll(AngleUnit.DEGREES),
+                        detection.robotPose.getOrientation().getYaw(AngleUnit.DEGREES)));
+            } else {
+                telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
+                telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", detection.center.x, detection.center.y));
+            }
+        }   // end for() loop
+
+        // Add "key" information to telemetry
+        telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist.");
+        telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)");
+
+    }   // end method telemetryAprilTag()
+
+}   // end class

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagOptimizeExposure.java

@@ -98,7 +98,7 @@ public class ConceptAprilTagOptimizeExposure extends LinearOpMode
 
         // Wait for the match to begin.
         telemetry.addData("Camera preview on/off", "3 dots, Camera Stream");
-        telemetry.addData(">", "Touch Play to start OpMode");
+        telemetry.addData(">", "Touch START to start OpMode");
         telemetry.update();
         waitForStart();
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptAprilTagSwitchableCameras.java

@@ -77,7 +77,7 @@ public class ConceptAprilTagSwitchableCameras extends LinearOpMode {
 
         // Wait for the DS start button to be touched.
         telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
-        telemetry.addData(">", "Touch Play to start OpMode");
+        telemetry.addData(">", "Touch START to start OpMode");
         telemetry.update();
         waitForStart();
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptExternalHardwareClass.java

@@ -83,7 +83,7 @@ public class ConceptExternalHardwareClass extends LinearOpMode {
         robot.init();
 
         // Send telemetry message to signify robot waiting;
-        // Wait for the game to start (driver presses PLAY)
+        // Wait for the game to start (driver presses START)
         waitForStart();
 
         // run until the end of the match (driver presses STOP)

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptLEDStick.java

@@ -0,0 +1,123 @@
+package org.firstinspires.ftc.robotcontroller.external.samples;
+/*
+        Copyright (c) 2021-24 Alan Smith
+
+        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 Alan Smith 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 FITNESSFOR 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.
+*/
+
+import android.graphics.Color;
+
+import com.qualcomm.hardware.sparkfun.SparkFunLEDStick;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.util.Range;
+
+/*
+ * This OpMode illustrates how to use the SparkFun QWIIC LED Strip
+ *
+ * This is a simple way to add a strip of 10 LEDs to your robot where you can set the color of each
+ * LED or the whole strip.   This allows for driver feedback or even just fun ways to show your team
+ * colors.
+ *
+ * Why?
+ * Because more LEDs == more fun!!
+ *
+ * This OpMode assumes that the QWIIC LED Stick is attached to an I2C interface named "back_leds" in the robot configuration.
+ *
+ * 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
+ *
+ * You can buy this product here:  https://www.sparkfun.com/products/18354
+ * Don't forget to also buy this to make it easy to connect to your Control or Expansion Hub:
+ * https://www.sparkfun.com/products/25596
+ */
+@TeleOp(name = "Concept: LED Stick", group = "Concept")
+@Disabled
+public class ConceptLEDStick extends OpMode {
+    private boolean wasUp;
+    private boolean wasDown;
+    private int brightness = 5;  // this needs to be between 0 and 31
+    private final static double END_GAME_TIME = 120 - 30;
+
+    private SparkFunLEDStick ledStick;
+
+    @Override
+    public void init() {
+        ledStick = hardwareMap.get(SparkFunLEDStick.class, "back_leds");
+        ledStick.setBrightness(brightness);
+        ledStick.setColor(Color.GREEN);
+    }
+
+    @Override
+    public void start() {
+        resetRuntime();
+    }
+
+    @Override
+    public void loop() {
+        telemetry.addLine("Hold the A button to turn blue");
+        telemetry.addLine("Hold the B button to turn red");
+        telemetry.addLine("Hold the left bumper to turn off");
+        telemetry.addLine("Use DPAD Up/Down to change brightness");
+        
+        if (getRuntime() > END_GAME_TIME) {
+            int[] ledColors = {Color.RED, Color.YELLOW, Color.RED, Color.YELLOW, Color.RED,
+                    Color.YELLOW, Color.RED, Color.YELLOW, Color.RED, Color.YELLOW};
+            ledStick.setColors(ledColors);
+        } else if (gamepad1.a) {
+            ledStick.setColor(Color.BLUE);
+        } else if (gamepad1.b) {
+            ledStick.setColor(Color.RED);
+        } else if (gamepad1.left_bumper) {
+            ledStick.turnAllOff();
+        } else {
+            ledStick.setColor(Color.GREEN);
+        }
+
+        /*
+         * Use DPAD up and down to change brightness
+         */
+        int newBrightness = brightness;
+        if (gamepad1.dpad_up && !wasUp) {
+            newBrightness = brightness + 1;
+        } else if (gamepad1.dpad_down && !wasDown) {
+            newBrightness = brightness - 1;
+        }
+        if (newBrightness != brightness) {
+            brightness = Range.clip(newBrightness, 0, 31);
+            ledStick.setBrightness(brightness);
+        }
+        telemetry.addData("Brightness", brightness);
+
+        wasDown = gamepad1.dpad_down;
+        wasUp = gamepad1.dpad_up;
+    }
+}

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptMotorBulkRead.java

@@ -110,7 +110,7 @@ public class ConceptMotorBulkRead extends LinearOpMode {
 
         ElapsedTime timer = new ElapsedTime();
 
-        telemetry.addData(">", "Press play to start tests");
+        telemetry.addData(">", "Press START to start tests");
         telemetry.addData(">", "Test results will update for each access method.");
         telemetry.update();
         waitForStart();

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptNullOp.java

@@ -53,7 +53,7 @@ public class ConceptNullOp extends OpMode {
 
   /**
    * This method will be called repeatedly during the period between when
-   * the init button is pressed and when the play button is pressed (or the
+   * the INIT button is pressed and when the START button is pressed (or the
    * OpMode is stopped).
    */
   @Override
@@ -61,7 +61,7 @@ public class ConceptNullOp extends OpMode {
   }
 
   /**
-   * This method will be called once, when the play button is pressed.
+   * This method will be called once, when the START button is pressed.
    */
   @Override
   public void start() {
@@ -70,7 +70,7 @@ public class ConceptNullOp extends OpMode {
 
   /**
    * This method will be called repeatedly during the period between when
-   * the play button is pressed and when the OpMode is stopped.
+   * the START button is pressed and when the OpMode is stopped.
    */
   @Override
   public void loop() {

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRevLED.java

@@ -0,0 +1,78 @@
+/*
+        Copyright (c) 2024 Alan Smith
+        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 Alan Smith 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 FITNESSFOR 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.robotcontroller.external.samples;
+
+/*
+ * This OpMode illustrates how to use the REV Digital Indicator
+ *
+ * This is a simple way to add the REV Digital Indicator which has a red and green LED.
+ * (and as you may remember, red + green = yellow so when they are both on you can get yellow)
+ *
+ * Why?
+ * You can use this to show information to the driver.   For example, green might be that you can
+ * pick up more game elements and red would be that you already have the possession limit.
+ *
+ * This OpMode assumes that the REV Digital Indicator is setup as 2 Digital Channels named
+ * front_led_green and front_led_red. (the green should be the lower of the 2 channels it is plugged
+ * into and the red should be the higher)
+ *
+ * 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
+ *
+ * You can buy this product here:  https://www.revrobotics.com/rev-31-2010/
+ */
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.LED;
+
+@TeleOp(name = "Concept: RevLED", group = "Concept")
+@Disabled
+public class ConceptRevLED extends OpMode {
+    LED frontLED_red;
+    LED frontLED_green;
+
+    @Override
+    public void init() {
+        frontLED_green = hardwareMap.get(LED.class, "front_led_green");
+        frontLED_red = hardwareMap.get(LED.class, "front_led_red");
+    }
+
+    @Override
+    public void loop() {
+        if (gamepad1.a) {
+            frontLED_red.on();
+        } else {
+            frontLED_red.off();
+        }
+        if (gamepad1.b) {
+            frontLED_green.on();
+        } else {
+            frontLED_green.off();
+        }
+    }
+}

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptRevSPARKMini.java

@@ -38,8 +38,9 @@ import com.qualcomm.robotcore.util.Range;
 
 
 /*
- * This OpMode executes a basic Tank Drive Teleop for a two wheeled robot using two REV SPARKminis.
- * To use this example, connect two REV SPARKminis into servo ports on the Expansion Hub. On the
+ * This OpMode demonstrates a POV Drive system, with commented-out code for a Tank Drive system,
+ * for a two wheeled robot using two REV SPARKminis.
+ * To use this example, connect two REV SPARKminis into servo ports on the Control Hub. On the
  * robot configuration, use the drop down list under 'Servos' to select 'REV SPARKmini Controller'
  * and name them 'left_drive' and 'right_drive'.
  *
@@ -62,8 +63,7 @@ public class ConceptRevSPARKMini extends LinearOpMode {
         telemetry.update();
 
         // Initialize the hardware variables. Note that the strings used here as parameters
-        // to 'get' must correspond to the names assigned during the robot configuration
-        // step (using the FTC Robot Controller app on the phone).
+        // to 'get' must correspond to the names assigned during robot configuration.
         leftDrive  = hardwareMap.get(DcMotorSimple.class, "left_drive");
         rightDrive = hardwareMap.get(DcMotorSimple.class, "right_drive");
 
@@ -72,7 +72,7 @@ public class ConceptRevSPARKMini extends LinearOpMode {
         leftDrive.setDirection(DcMotorSimple.Direction.FORWARD);
         rightDrive.setDirection(DcMotorSimple.Direction.REVERSE);
 
-        // Wait for the game to start (driver presses PLAY)
+        // Wait for the game to start (driver presses START)
         waitForStart();
         runtime.reset();
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptSoundsASJava.java

@@ -100,7 +100,7 @@ public class ConceptSoundsASJava extends LinearOpMode {
         telemetry.addData("gold resource",   goldFound ?   "Found" : "NOT found\n Add gold.wav to /src/main/res/raw" );
         telemetry.addData("silver resource", silverFound ? "Found" : "Not found\n Add silver.wav to /src/main/res/raw" );
 
-        // Wait for the game to start (driver presses PLAY)
+        // Wait for the game to start (driver presses START)
         telemetry.addData(">", "Press Start to continue");
         telemetry.update();
         waitForStart();

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByEncoder_Linear.java

@@ -110,7 +110,7 @@ public class RobotAutoDriveByEncoder_Linear extends LinearOpMode {
                           rightDrive.getCurrentPosition());
         telemetry.update();
 
-        // Wait for the game to start (driver presses PLAY)
+        // Wait for the game to start (driver presses START)
         waitForStart();
 
         // Step through each leg of the path,

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByGyro_Linear.java

@@ -65,7 +65,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
  *  Notes:
  *
  *  All angles are referenced to the coordinate-frame that is set whenever resetHeading() is called.
- *  In this sample, the heading is reset when the Start button is touched on the Driver station.
+ *  In this sample, the heading is reset when the Start button is touched on the Driver Station.
  *  Note: It would be possible to reset the heading after each move, but this would accumulate steering errors.
  *
  *  The angle of movement/rotation is assumed to be a standardized rotation around the robot Z axis,
@@ -124,15 +124,15 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
     // These constants define the desired driving/control characteristics
     // They can/should be tweaked to suit the specific robot drive train.
     static final double     DRIVE_SPEED             = 0.4;     // Max driving speed for better distance accuracy.
-    static final double     TURN_SPEED              = 0.2;     // Max Turn speed to limit turn rate
+    static final double     TURN_SPEED              = 0.2;     // Max turn speed to limit turn rate.
     static final double     HEADING_THRESHOLD       = 1.0 ;    // How close must the heading get to the target before moving to next step.
                                                                // Requiring more accuracy (a smaller number) will often make the turn take longer to get into the final position.
     // Define the Proportional control coefficient (or GAIN) for "heading control".
     // We define one value when Turning (larger errors), and the other is used when Driving straight (smaller errors).
-    // Increase these numbers if the heading does not corrects strongly enough (eg: a heavy robot or using tracks)
+    // Increase these numbers if the heading does not correct strongly enough (eg: a heavy robot or using tracks)
     // Decrease these numbers if the heading does not settle on the correct value (eg: very agile robot with omni wheels)
-    static final double     P_TURN_GAIN            = 0.02;     // Larger is more responsive, but also less stable
-    static final double     P_DRIVE_GAIN           = 0.03;     // Larger is more responsive, but also less stable
+    static final double     P_TURN_GAIN            = 0.02;     // Larger is more responsive, but also less stable.
+    static final double     P_DRIVE_GAIN           = 0.03;     // Larger is more responsive, but also less stable.
 
 
     @Override
@@ -317,7 +317,7 @@ public class RobotAutoDriveByGyro_Linear extends LinearOpMode {
      *  <p>
      *  Move will stop once the requested time has elapsed
      *  <p>
-     *  This function is useful for giving the robot a moment to stabilize it's heading between movements.
+     *  This function is useful for giving the robot a moment to stabilize its heading between movements.
      *
      * @param maxTurnSpeed      Maximum differential turn speed (range 0 to +1.0)
      * @param heading    Absolute Heading Angle (in Degrees) relative to last gyro reset.

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveByTime_Linear.java

@@ -85,10 +85,10 @@ public class RobotAutoDriveByTime_Linear extends LinearOpMode {
         telemetry.addData("Status", "Ready to run");    //
         telemetry.update();
 
-        // Wait for the game to start (driver presses PLAY)
+        // Wait for the game to start (driver presses START)
         waitForStart();
 
-        // Step through each leg of the path, ensuring that the Auto mode has not been stopped along the way
+        // Step through each leg of the path, ensuring that the OpMode has not been stopped along the way.
 
         // Step 1:  Drive forward for 3 seconds
         leftDrive.setPower(FORWARD_SPEED);

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToAprilTagOmni.java

@@ -64,7 +64,7 @@ import java.util.concurrent.TimeUnit;
  * The code assumes a Robot Configuration with motors named: leftfront_drive and rightfront_drive, leftback_drive and rightback_drive.
  * The motor directions must be set so a positive power goes forward on all wheels.
  * This sample assumes that the current game AprilTag Library (usually for the current season) is being loaded by default,
- * so you should choose to approach a valid tag ID (usually starting at 0)
+ * so you should choose to approach a valid tag ID.
  *
  * Under manual control, the left stick will move forward/back & left/right.  The right stick will rotate the robot.
  * Manually drive the robot until it displays Target data on the Driver Station.
@@ -95,12 +95,12 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
     //  Set the GAIN constants to control the relationship between the measured position error, and how much power is
     //  applied to the drive motors to correct the error.
     //  Drive = Error * Gain    Make these values smaller for smoother control, or larger for a more aggressive response.
-    final double SPEED_GAIN  =  0.02  ;   //  Forward Speed Control "Gain". eg: Ramp up to 50% power at a 25 inch error.   (0.50 / 25.0)
-    final double STRAFE_GAIN =  0.015 ;   //  Strafe Speed Control "Gain".  eg: Ramp up to 25% power at a 25 degree Yaw error.   (0.25 / 25.0)
-    final double TURN_GAIN   =  0.01  ;   //  Turn Control "Gain".  eg: Ramp up to 25% power at a 25 degree error. (0.25 / 25.0)
+    final double SPEED_GAIN  =  0.02  ;   //  Forward Speed Control "Gain". e.g. Ramp up to 50% power at a 25 inch error.   (0.50 / 25.0)
+    final double STRAFE_GAIN =  0.015 ;   //  Strafe Speed Control "Gain".  e.g. Ramp up to 37% power at a 25 degree Yaw error.   (0.375 / 25.0)
+    final double TURN_GAIN   =  0.01  ;   //  Turn Control "Gain".  e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0)
 
     final double MAX_AUTO_SPEED = 0.5;   //  Clip the approach speed to this max value (adjust for your robot)
-    final double MAX_AUTO_STRAFE= 0.5;   //  Clip the approach speed to this max value (adjust for your robot)
+    final double MAX_AUTO_STRAFE= 0.5;   //  Clip the strafing speed to this max value (adjust for your robot)
     final double MAX_AUTO_TURN  = 0.3;   //  Clip the turn speed to this max value (adjust for your robot)
 
     private DcMotor leftFrontDrive   = null;  //  Used to control the left front drive wheel
@@ -145,7 +145,7 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
 
         // Wait for driver to press start
         telemetry.addData("Camera preview on/off", "3 dots, Camera Stream");
-        telemetry.addData(">", "Touch Play to start OpMode");
+        telemetry.addData(">", "Touch START to start OpMode");
         telemetry.update();
         waitForStart();
 
@@ -259,7 +259,7 @@ public class RobotAutoDriveToAprilTagOmni extends LinearOpMode
         aprilTag = new AprilTagProcessor.Builder().build();
 
         // Adjust Image Decimation to trade-off detection-range for detection-rate.
-        // eg: Some typical detection data using a Logitech C920 WebCam
+        // e.g. Some typical detection data using a Logitech C920 WebCam
         // Decimation = 1 ..  Detect 2" Tag from 10 feet away at 10 Frames per second
         // Decimation = 2 ..  Detect 2" Tag from 6  feet away at 22 Frames per second
         // Decimation = 3 ..  Detect 2" Tag from 4  feet away at 30 Frames Per Second

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToAprilTagTank.java

@@ -63,7 +63,7 @@ import java.util.concurrent.TimeUnit;
  * The code assumes a Robot Configuration with motors named left_drive and right_drive.
  * The motor directions must be set so a positive power goes forward on both wheels;
  * This sample assumes that the default AprilTag Library (usually for the current season) is being loaded by default
- * so you should choose to approach a valid tag ID (usually starting at 0)
+ * so you should choose to approach a valid tag ID.
  *
  * Under manual control, the left stick will move forward/back, and the right stick will rotate the robot.
  * This is called POV Joystick mode, different than Tank Drive (where each joystick controls a wheel).
@@ -94,8 +94,8 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
     //  Set the GAIN constants to control the relationship between the measured position error, and how much power is
     //  applied to the drive motors to correct the error.
     //  Drive = Error * Gain    Make these values smaller for smoother control, or larger for a more aggressive response.
-    final double SPEED_GAIN =   0.02 ;   //  Speed Control "Gain". eg: Ramp up to 50% power at a 25 inch error.   (0.50 / 25.0)
-    final double TURN_GAIN  =   0.01 ;   //  Turn Control "Gain".  eg: Ramp up to 25% power at a 25 degree error. (0.25 / 25.0)
+    final double SPEED_GAIN =   0.02 ;   //  Speed Control "Gain". e.g. Ramp up to 50% power at a 25 inch error.   (0.50 / 25.0)
+    final double TURN_GAIN  =   0.01 ;   //  Turn Control "Gain".  e.g. Ramp up to 25% power at a 25 degree error. (0.25 / 25.0)
 
     final double MAX_AUTO_SPEED = 0.5;   //  Clip the approach speed to this max value (adjust for your robot)
     final double MAX_AUTO_TURN  = 0.25;  //  Clip the turn speed to this max value (adjust for your robot)
@@ -135,7 +135,7 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
 
         // Wait for the driver to press Start
         telemetry.addData("Camera preview on/off", "3 dots, Camera Stream");
-        telemetry.addData(">", "Touch Play to start OpMode");
+        telemetry.addData(">", "Touch START to start OpMode");
         telemetry.update();
         waitForStart();
 
@@ -234,7 +234,7 @@ public class RobotAutoDriveToAprilTagTank extends LinearOpMode
         aprilTag = new AprilTagProcessor.Builder().build();
 
         // Adjust Image Decimation to trade-off detection-range for detection-rate.
-        // eg: Some typical detection data using a Logitech C920 WebCam
+        // e.g. Some typical detection data using a Logitech C920 WebCam
         // Decimation = 1 ..  Detect 2" Tag from 10 feet away at 10 Frames per second
         // Decimation = 2 ..  Detect 2" Tag from 6  feet away at 22 Frames per second
         // Decimation = 3 ..  Detect 2" Tag from 4  feet away at 30 Frames Per Second

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotAutoDriveToLine_Linear.java

@@ -106,7 +106,7 @@ public class RobotAutoDriveToLine_Linear extends LinearOpMode {
         // A gain of 15 causes a Rev Color Sensor V2 to produce an Alpha value of 1.0 at about 1.5" above the floor.
         colorSensor.setGain(15);
 
-        // Wait for driver to press PLAY)
+        // Wait for driver to press START)
         // Abort this loop is started or stopped.
         while (opModeInInit()) {
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotTeleopPOV_Linear.java

@@ -96,10 +96,10 @@ public class RobotTeleopPOV_Linear extends LinearOpMode {
         rightClaw.setPosition(MID_SERVO);
 
         // Send telemetry message to signify robot waiting;
-        telemetry.addData(">", "Robot Ready.  Press Play.");    //
+        telemetry.addData(">", "Robot Ready.  Press START.");    //
         telemetry.update();
 
-        // Wait for the game to start (driver presses PLAY)
+        // Wait for the game to start (driver presses START)
         waitForStart();
 
         // run until the end of the match (driver presses STOP)

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotTeleopTank_Iterative.java

@@ -94,25 +94,25 @@ public class RobotTeleopTank_Iterative extends OpMode{
         rightClaw.setPosition(MID_SERVO);
 
         // Send telemetry message to signify robot waiting;
-        telemetry.addData(">", "Robot Ready.  Press Play.");    //
+        telemetry.addData(">", "Robot Ready.  Press START.");    //
     }
 
     /*
-     * Code to run REPEATEDLY after the driver hits INIT, but before they hit PLAY
+     * Code to run REPEATEDLY after the driver hits INIT, but before they hit START
      */
     @Override
     public void init_loop() {
     }
 
     /*
-     * Code to run ONCE when the driver hits PLAY
+     * Code to run ONCE when the driver hits START
      */
     @Override
     public void start() {
     }
 
     /*
-     * Code to run REPEATEDLY after the driver hits PLAY but before they hit STOP
+     * Code to run REPEATEDLY after the driver hits START but before they hit STOP
      */
     @Override
     public void loop() {

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorHuskyLens.java

@@ -33,13 +33,10 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 package org.firstinspires.ftc.robotcontroller.external.samples;
 
 import com.qualcomm.hardware.dfrobot.HuskyLens;
-import com.qualcomm.hardware.rev.Rev2mDistanceSensor;
 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.DistanceSensor;
 
-import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.robotcore.internal.system.Deadline;
 
 import java.util.concurrent.TimeUnit;
@@ -51,6 +48,9 @@ import java.util.concurrent.TimeUnit;
  * detect a number of predefined objects and AprilTags in the 36h11 family, can
  * recognize colors, and can be trained to detect custom objects. See this website for
  * documentation: https://wiki.dfrobot.com/HUSKYLENS_V1.0_SKU_SEN0305_SEN0336
+ *
+ * For detailed instructions on how a HuskyLens is used in FTC, please see this tutorial:
+ * https://ftc-docs.firstinspires.org/en/latest/devices/huskylens/huskylens.html
  * 
  * This sample illustrates how to detect AprilTags, but can be used to detect other types
  * of objects by changing the algorithm. It assumes that the HuskyLens is configured with
@@ -110,6 +110,8 @@ public class SensorHuskyLens extends LinearOpMode {
          * Users, should, in general, explicitly choose the algorithm they want to use
          * within the OpMode by calling selectAlgorithm() and passing it one of the values
          * found in the enumeration HuskyLens.Algorithm.
+         *
+         * Other algorithm choices for FTC might be: OBJECT_RECOGNITION, COLOR_RECOGNITION or OBJECT_CLASSIFICATION.
          */
         huskyLens.selectAlgorithm(HuskyLens.Algorithm.TAG_RECOGNITION);
 
@@ -141,6 +143,15 @@ public class SensorHuskyLens extends LinearOpMode {
             telemetry.addData("Block count", blocks.length);
             for (int i = 0; i < blocks.length; i++) {
                 telemetry.addData("Block", blocks[i].toString());
+                /*
+                 * Here inside the FOR loop, you could save or evaluate specific info for the currently recognized Bounding Box:
+                 * - blocks[i].width and blocks[i].height   (size of box, in pixels)
+                 * - blocks[i].left and blocks[i].top       (edges of box)
+                 * - blocks[i].x and blocks[i].y            (center location)
+                 * - blocks[i].id                           (Color ID)
+                 *
+                 * These values have Java type int (integer).
+                 */
             }
 
             telemetry.update();

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorIMUNonOrthogonal.java

@@ -58,7 +58,7 @@ import static com.qualcomm.hardware.rev.RevHubOrientationOnRobot.xyzOrientation;
  * planes (X/Y, X/Z or Y/Z) OR that the Hub has only been rotated in a range of 90 degree increments.
  *
  * Note: if your Hub is mounted Orthogonally (on a orthogonal surface, angled at some multiple of
- * 90 Degrees) then you should use the simpler SensorImuOrthogonal sample in this folder.
+ * 90 Degrees) then you should use the simpler SensorIMUOrthogonal sample in this folder.
  *
  * But... If your Hub is mounted Non-Orthogonally, you must specify one or more rotational angles
  * that transform a "Default" Hub orientation into your desired orientation.  That is what is
@@ -94,6 +94,9 @@ public class SensorIMUNonOrthogonal extends LinearOpMode
          * 1) Hub laying flat on a horizontal surface, with the Printed Logo facing UP
          * 2) Rotated such that the USB ports are facing forward on the robot.
          *
+         * If you are using a REV External IMU, the "Default" orientation is the same as for a REV Hub, but instead of
+         * the USB ports facing forward, the I2C port faces forward.
+         *
          * The order that the rotations are performed matters, so this sample shows doing them in the order X, Y, then Z.
          * For specifying non-orthogonal hub mounting orientations, we must temporarily use axes
          * defined relative to the Hub itself, instead of the usual Robot Coordinate System axes
@@ -124,7 +127,7 @@ public class SensorIMUNonOrthogonal extends LinearOpMode
          *
          *  To get the "Default" hub into this configuration you would just need a single rotation, but around a different axis.
          *  1) No rotation around the X or Y axes.
-         *  1) Rotate the Hub -30 degrees (Clockwise) around the Z axis, since a positive angle would be Counter Clockwise.
+         *  2) Rotate the Hub -30 degrees (Clockwise) around the Z axis, since a positive angle would be Counter Clockwise.
          *
          *  So the X,Y,Z rotations would be 0,0,-30
          *

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorIMUOrthogonal.java

@@ -55,7 +55,7 @@ import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
  * (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.
+ *       the alternative SensorIMUNonOrthogonal sample in this folder.
  *
  * This "Orthogonal" requirement means that:
  *
@@ -98,6 +98,9 @@ public class SensorIMUOrthogonal extends LinearOpMode
          * 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.

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorLimelight3A.java

@@ -0,0 +1,159 @@
+/*
+Copyright (c) 2024 Limelight Vision
+
+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.robotcontroller.external.samples;
+
+import com.qualcomm.hardware.limelightvision.LLResult;
+import com.qualcomm.hardware.limelightvision.LLResultTypes;
+import com.qualcomm.hardware.limelightvision.LLStatus;
+import com.qualcomm.hardware.limelightvision.Limelight3A;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
+
+import java.util.List;
+
+/*
+ * This OpMode illustrates how to use the Limelight3A Vision Sensor.
+ *
+ * @see <a href="https://limelightvision.io/">Limelight</a>
+ *
+ * Notes on configuration:
+ *
+ *   The device presents itself, when plugged into a USB port on a Control Hub as an ethernet
+ *   interface.  A DHCP server running on the Limelight automatically assigns the Control Hub an
+ *   ip address for the new ethernet interface.
+ *
+ *   Since the Limelight is plugged into a USB port, it will be listed on the top level configuration
+ *   activity along with the Control Hub Portal and other USB devices such as webcams.  Typically
+ *   serial numbers are displayed below the device's names.  In the case of the Limelight device, the
+ *   Control Hub's assigned ip address for that ethernet interface is used as the "serial number".
+ *
+ *   Tapping the Limelight's name, transitions to a new screen where the user can rename the Limelight
+ *   and specify the Limelight's ip address.  Users should take care not to confuse the ip address of
+ *   the Limelight itself, which can be configured through the Limelight settings page via a web browser,
+ *   and the ip address the Limelight device assigned the Control Hub and which is displayed in small text
+ *   below the name of the Limelight on the top level configuration screen.
+ */
+@TeleOp(name = "Sensor: Limelight3A", group = "Sensor")
+@Disabled
+public class SensorLimelight3A extends LinearOpMode {
+
+    private Limelight3A limelight;
+
+    @Override
+    public void runOpMode() throws InterruptedException
+    {
+        limelight = hardwareMap.get(Limelight3A.class, "limelight");
+
+        telemetry.setMsTransmissionInterval(11);
+
+        limelight.pipelineSwitch(0);
+
+        /*
+         * Starts polling for data.  If you neglect to call start(), getLatestResult() will return null.
+         */
+        limelight.start();
+
+        telemetry.addData(">", "Robot Ready.  Press Play.");
+        telemetry.update();
+        waitForStart();
+
+        while (opModeIsActive()) {
+            LLStatus status = limelight.getStatus();
+            telemetry.addData("Name", "%s",
+                    status.getName());
+            telemetry.addData("LL", "Temp: %.1fC, CPU: %.1f%%, FPS: %d",
+                    status.getTemp(), status.getCpu(),(int)status.getFps());
+            telemetry.addData("Pipeline", "Index: %d, Type: %s",
+                    status.getPipelineIndex(), status.getPipelineType());
+
+            LLResult result = limelight.getLatestResult();
+            if (result != null) {
+                // Access general information
+                Pose3D botpose = result.getBotpose();
+                double captureLatency = result.getCaptureLatency();
+                double targetingLatency = result.getTargetingLatency();
+                double parseLatency = result.getParseLatency();
+                telemetry.addData("LL Latency", captureLatency + targetingLatency);
+                telemetry.addData("Parse Latency", parseLatency);
+                telemetry.addData("PythonOutput", java.util.Arrays.toString(result.getPythonOutput()));
+                
+                if (result.isValid()) {
+                    telemetry.addData("tx", result.getTx());
+                    telemetry.addData("txnc", result.getTxNC());
+                    telemetry.addData("ty", result.getTy());
+                    telemetry.addData("tync", result.getTyNC());
+
+                    telemetry.addData("Botpose", botpose.toString());
+
+                    // Access barcode results
+                    List<LLResultTypes.BarcodeResult> barcodeResults = result.getBarcodeResults();
+                    for (LLResultTypes.BarcodeResult br : barcodeResults) {
+                        telemetry.addData("Barcode", "Data: %s", br.getData());
+                    }
+
+                    // Access classifier results
+                    List<LLResultTypes.ClassifierResult> classifierResults = result.getClassifierResults();
+                    for (LLResultTypes.ClassifierResult cr : classifierResults) {
+                        telemetry.addData("Classifier", "Class: %s, Confidence: %.2f", cr.getClassName(), cr.getConfidence());
+                    }
+
+                    // Access detector results
+                    List<LLResultTypes.DetectorResult> detectorResults = result.getDetectorResults();
+                    for (LLResultTypes.DetectorResult dr : detectorResults) {
+                        telemetry.addData("Detector", "Class: %s, Area: %.2f", dr.getClassName(), dr.getTargetArea());
+                    }
+
+                    // Access fiducial results
+                    List<LLResultTypes.FiducialResult> fiducialResults = result.getFiducialResults();
+                    for (LLResultTypes.FiducialResult fr : fiducialResults) {
+                        telemetry.addData("Fiducial", "ID: %d, Family: %s, X: %.2f, Y: %.2f", fr.getFiducialId(), fr.getFamily(),fr.getTargetXDegrees(), fr.getTargetYDegrees());
+                    }
+
+                    // Access color results
+                    List<LLResultTypes.ColorResult> colorResults = result.getColorResults();
+                    for (LLResultTypes.ColorResult cr : colorResults) {
+                        telemetry.addData("Color", "X: %.2f, Y: %.2f", cr.getTargetXDegrees(), cr.getTargetYDegrees());
+                    }
+                }
+            } else {
+                telemetry.addData("Limelight", "No data available");
+            }
+
+            telemetry.update();
+        }
+        limelight.stop();
+    }
+}

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorOctoQuad.java

@@ -52,7 +52,7 @@ import org.firstinspires.ftc.robotcore.external.Telemetry;
  * 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 the sensor's product page: https://www.tindie.com/products/digitalchickenlabs/octoquad-8ch-quadrature-pulse-width-decoder/
+ * See the sensor's product page: https://www.tindie.com/products/35114/
  */
 @TeleOp(name = "OctoQuad Basic", group="OctoQuad")
 @Disabled
@@ -60,7 +60,7 @@ public class SensorOctoQuad extends LinearOpMode {
 
     // Identify which encoder OctoQuad inputs are connected to each odometry pod.
     private final int ODO_LEFT  = 0; // Facing forward direction on left side of robot (Axial motion)
-    private final int ODO_RIGHT = 1; // Facing forward direction on right side or robot (Axial motion )
+    private final int ODO_RIGHT = 1; // Facing forward direction on right side or robot (Axial motion)
     private final int ODO_PERP  = 2; // Facing perpendicular direction at the center of the robot (Lateral motion)
 
     // Declare the OctoQuad object and members to store encoder positions and velocities
@@ -83,7 +83,7 @@ public class SensorOctoQuad extends LinearOpMode {
         telemetry.addData("OctoQuad Firmware Version ", octoquad.getFirmwareVersion());
 
         // Reverse the count-direction of any encoder that is not what you require.
-        // Eg: if you push the robot forward and the left encoder counts down, then reverse it so it counts up.
+        // e.g. if you push the robot forward and the left encoder counts down, then reverse it so it counts up.
         octoquad.setSingleEncoderDirection(ODO_LEFT,  OctoQuad.EncoderDirection.REVERSE);
         octoquad.setSingleEncoderDirection(ODO_RIGHT, OctoQuad.EncoderDirection.FORWARD);
         octoquad.setSingleEncoderDirection(ODO_PERP,  OctoQuad.EncoderDirection.FORWARD);
@@ -91,7 +91,7 @@ public class SensorOctoQuad extends LinearOpMode {
         // Any changes that are made should be saved in FLASH just in case there is a sensor power glitch.
         octoquad.saveParametersToFlash();
 
-        telemetry.addLine("\nPress Play to read encoder values");
+        telemetry.addLine("\nPress START to read encoder values");
         telemetry.update();
 
         waitForStart();
@@ -100,23 +100,23 @@ public class SensorOctoQuad extends LinearOpMode {
         telemetry.setDisplayFormat(Telemetry.DisplayFormat.MONOSPACE);
         telemetry.setMsTransmissionInterval(50);
 
-        // Set all the encoder inputs to zero
+        // Set all the encoder inputs to zero.
         octoquad.resetAllPositions();
 
         // Loop while displaying the odometry pod positions.
         while (opModeIsActive()) {
             telemetry.addData(">", "Press X to Reset Encoders\n");
 
-            // Check for X button to reset encoders
+            // Check for X button to reset encoders.
             if (gamepad1.x) {
                 // Reset the position of all encoders to zero.
                 octoquad.resetAllPositions();
             }
 
-            // Read all the encoder data.  Load into local members
+            // Read all the encoder data.  Load into local members.
             readOdometryPods();
 
-            // Display the values
+            // Display the values.
             telemetry.addData("Left ", "%8d counts", posLeft);
             telemetry.addData("Right", "%8d counts", posRight);
             telemetry.addData("Perp ", "%8d counts", posPerp);
@@ -131,11 +131,11 @@ public class SensorOctoQuad extends LinearOpMode {
         // or
         //   readAllPositions() to get all 8 encoder readings
         //
-        // Since both calls take almost the same amount of time, and the actual channels may not end up being sequential,
-        // we will read all of the encoder positions, and then pick out the ones we need.
+        // Since both calls take almost the same amount of time, and the actual channels may not end up
+        // being sequential, we will read all of the encoder positions, and then pick out the ones we need.
         int[] positions = octoquad.readAllPositions();
         posLeft  = positions[ODO_LEFT];
         posRight = positions[ODO_RIGHT];
         posPerp  = positions[ODO_PERP];
     }
-}
+}

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/SensorOctoQuadAdv.java

@@ -77,7 +77,7 @@ import java.util.List;
  * Note: If you prefer, you can move the two support classes from this file, and place them in their own files.
  *       But leaving them in place is simpler for this example.
  *
- * See the sensor's product page: https://www.tindie.com/products/digitalchickenlabs/octoquad-8ch-quadrature-pulse-width-decoder/
+ * See the sensor's product page: https://www.tindie.com/products/35114/
  */
 @TeleOp(name="OctoQuad Advanced", group="OctoQuad")
 @Disabled
@@ -93,7 +93,7 @@ public class SensorOctoQuadAdv extends LinearOpMode {
 
         // Display the OctoQuad firmware revision
         telemetry.addLine("OctoQuad Firmware v" + octoquad.getFirmwareVersion());
-        telemetry.addLine("\nPress Play to read encoder values");
+        telemetry.addLine("\nPress START to read encoder values");
         telemetry.update();
 
         waitForStart();
@@ -275,4 +275,4 @@ class OctoSwerveModule {
     public void show(Telemetry telemetry) {
         telemetry.addData(name, "%8.0f %7.0f %7.0f %6.0f", driveCounts, driveCountsPerSec, steerDegrees, steerDegreesPerSec);
     }
-}
+}

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/UtilityOctoQuadConfigMenu.java

@@ -446,7 +446,7 @@ public class UtilityOctoQuadConfigMenu extends LinearOpMode
             StringBuilder builder = new StringBuilder();
             builder.append("<font color='#119af5' face=monospace>");
             builder.append("Navigate items.....dpad up/down\n")
-                    .append("Select.............X\n")
+                    .append("Select.............X or Square\n")
                     .append("Edit option........dpad left/right\n")
                     .append("Up one level.......left bumper\n");
             builder.append("</font>");
@@ -614,7 +614,7 @@ public class UtilityOctoQuadConfigMenu extends LinearOpMode
             @Override
             public void onClick()
             {
-                onRightInput();
+                //onRightInput();
             }
 
             @Override
@@ -669,7 +669,7 @@ public class UtilityOctoQuadConfigMenu extends LinearOpMode
             @Override
             public void onClick()
             {
-                onRightInput();
+                //onRightInput();
             }
 
             @Override

TeamCode/build.gradle

@@ -23,18 +23,10 @@ android {
     }
 }
 
-repositories {
-    maven {
-        url = 'https://maven.brott.dev/'
-    }
-}
-
 dependencies {
     implementation project(':FtcRobotController')
     annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
 
-    implementation "com.acmerobotics.roadrunner:ftc:0.1.13"
-    implementation "com.acmerobotics.roadrunner:core:1.0.0"
-    implementation "com.acmerobotics.roadrunner:actions:1.0.0"
-    implementation "com.acmerobotics.dashboard:dashboard:0.4.14"
+    implementation 'com.fasterxml.jackson.core:jackson-databind:2.12.7'
+    implementation 'org.jetbrains.kotlin:kotlin-stdlib:1.4.21'
 }

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

@@ -0,0 +1,93 @@
+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 = "AsherOrientBlue", group = "Autonomous Pathing Tuning")
+public class AsherOrientBlue extends OpMode {
+    private Telemetry telemetryA;
+
+    private Follower follower;
+
+    private PathChain path;
+
+    private final Pose startPose = new Pose(9.757, 84.983, 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 BezierLine(
+                                new Point(20.500, 7.800, Point.CARTESIAN),
+                                new Point(20.500, 87.500, Point.CARTESIAN)
+                        )
+                )
+                .addPath(
+                        // Line 2
+                        new BezierLine(
+                                new Point(20.500, 87.500, Point.CARTESIAN),
+                                new Point(7.800, 87.500, 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/AsherPathBlueV1.java

@@ -0,0 +1,133 @@
+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 = "AsherPathBlueV1", group = "Autonomous Pathing Tuning")
+public class AsherPathBlueV1 extends OpMode {
+    private Telemetry telemetryA;
+
+    private Follower follower;
+
+    private PathChain path;
+
+    private final Pose startPose = new Pose(9.757, 84.983, 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(7.800, 87.5, Point.CARTESIAN),
+                                new Point(19.000, 116.000, Point.CARTESIAN),
+                                new Point(93.000, 118.000, Point.CARTESIAN),
+                                new Point(45.000, 115.000, Point.CARTESIAN)
+                        )
+                )
+                .addPath(
+                        // Line 2
+                        new BezierLine(
+                                new Point(45.000, 115.000, Point.CARTESIAN),
+                                new Point(14.000, 126.000, Point.CARTESIAN)
+                        )
+                )
+                .addPath(
+                        // Line 3
+                        new BezierCurve(
+                                new Point(14.000, 126.000, Point.CARTESIAN),
+                                new Point(43.000, 112.500, Point.CARTESIAN),
+                                new Point(64.000, 92.000, Point.CARTESIAN),
+                                new Point(77.000, 117.000, Point.CARTESIAN)
+                        )
+                )
+                .addPath(
+                        // Line 4
+                        new BezierLine(
+                                new Point(77.000, 117.000, Point.CARTESIAN),
+                                new Point(20.000, 135.000, Point.CARTESIAN)
+                        )
+                )
+                .addPath(
+                        // Line 5
+                        new BezierCurve(
+                                new Point(20.000, 135.000, Point.CARTESIAN),
+                                new Point(113.000, 95.000, Point.CARTESIAN),
+                                new Point(69.000, 135.000, Point.CARTESIAN)
+                        )
+                )
+                .addPath(
+                        // Line 6
+                        new BezierLine(
+                                new Point(69.000, 135.000, Point.CARTESIAN),
+                                new Point(20.500, 135.000, Point.CARTESIAN)
+                        )
+                )
+                .addPath(
+                        // Line 7
+                        new BezierCurve(
+                                new Point(20.500, 135.000, Point.CARTESIAN),
+                                new Point(101.500, 95.500, Point.CARTESIAN),
+                                new Point(72.500, 95.500, 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/CometBotAuto.java

@@ -0,0 +1,35 @@
+package org.firstinspires.ftc.teamcode;
+
+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.runmodes.Auto;
+
+
+@Autonomous(name = "CometBot Auto", group = "Debug")
+public class CometBotAuto extends OpMode {
+    public Auto auto;
+
+    @Override
+    public void init() {
+        auto = new Auto(hardwareMap, telemetry, new Follower(hardwareMap));
+    }
+
+    @Override
+    public void start() {
+        auto.start();
+    }
+
+    @Override
+    public void loop() {
+        auto.update();
+        telemetry.addData("Arm State", auto.arm.getState());
+        telemetry.addData("Arm Position", auto.arm.getPosition());
+        telemetry.addData("Claw State", auto.claw.getState());
+        telemetry.addData("Wrist State", auto.wrist.getState());
+        telemetry.addData("Wrist Position", auto.wrist.getPosition());
+        telemetry.update();
+    }
+
+}

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

@@ -0,0 +1,31 @@
+package org.firstinspires.ftc.teamcode;
+
+import static org.firstinspires.ftc.teamcode.util.action.FieldConstants.blueBucketStartPose;
+
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+import org.firstinspires.ftc.teamcode.runmodes.Teleop;
+
+@TeleOp(name="ComeBot Drive", group="Debug")
+@Disabled
+public class CometBotDrive extends OpMode {
+
+    private Teleop teleop;
+
+    @Override
+    public void init() {
+        teleop = new Teleop(hardwareMap,
+                telemetry,
+                new Follower(hardwareMap),
+                gamepad1);
+        teleop.start();
+    }
+
+    @Override
+    public void loop() {
+        teleop.update();
+    }
+}

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

@@ -0,0 +1,97 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.Gamepad;
+
+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;
+
+@TeleOp(name = "Dev Teleop Remix", group = "Debug")
+@Disabled
+public class DevTeleOpRemix extends OpMode {
+
+    public ClawSubsystem claw;
+    public ArmSubsystem arm;
+    public WristSubsystem wrist;
+    public LiftSubsystem lift;
+    public MotorsSubsystem motors;
+
+    public Gamepad currentGamepad1;
+    public Gamepad previousGamepad1;
+    public Gamepad currentGamepad2;
+    public Gamepad previousGamepad2;
+
+    public double power = .6;
+
+    @Override
+    public void init() {
+
+        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
+        arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
+        wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
+        lift = new LiftSubsystem(hardwareMap);
+        motors = new MotorsSubsystem(hardwareMap, telemetry, power);
+
+        claw.init();
+        arm.init();
+        wrist.init();
+        lift.init();
+        motors.init();
+
+        currentGamepad1 = new Gamepad();
+        previousGamepad1 = new Gamepad();
+        currentGamepad2 = new Gamepad();
+        previousGamepad2 = new Gamepad();
+    }
+
+    public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
+        if (currentGamepad1.a && !previousGamepad1.a) {
+            wrist.floorWrist();
+            arm.engageArm();
+        }
+    }
+
+    public void thePickup(ClawSubsystem claw) {
+        if (currentGamepad1.x && !previousGamepad1.x) {
+            claw.switchState();
+        }
+    }
+
+    public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
+        if (currentGamepad1.b && !previousGamepad1.b) {
+            arm.parkArm();
+            wrist.bucketWrist();
+        }
+    }
+
+    public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
+        if (currentGamepad1.y && !previousGamepad1.y) {
+            lift.toLowBucket();
+            wrist.bucketWrist();
+        }
+    }
+
+    @Override
+    public void loop() {
+
+        previousGamepad1.copy(currentGamepad1);
+        currentGamepad1.copy(gamepad1);
+
+        previousGamepad2.copy(currentGamepad2);
+        currentGamepad2.copy(gamepad2);
+
+        theDrop(arm, wrist);
+        thePickup(claw);
+        theLift(arm, wrist);
+        theLowBucketScore(lift, wrist, arm);
+
+        motors.calculateTrajectory(gamepad1);
+
+    }
+
+}

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

@@ -0,0 +1,107 @@
+package org.firstinspires.ftc.teamcode;
+
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.Gamepad;
+
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+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;
+
+@TeleOp(name = "Dev Teleop Remix Deux", group = "Debug")
+@Disabled
+public class DevTeleOpRemixDeux extends OpMode {
+
+    private Follower follower;
+
+    public ClawSubsystem claw;
+    public ArmSubsystem arm;
+    public WristSubsystem wrist;
+    public LiftSubsystem lift;
+    public MotorsSubsystem motors;
+
+    public Gamepad currentGamepad1;
+    public Gamepad previousGamepad1;
+    public Gamepad currentGamepad2;
+    public Gamepad previousGamepad2;
+
+    public double power = .6;
+
+    @Override
+    public void init() {
+
+        follower = new Follower(hardwareMap);
+
+        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
+        arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
+        wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
+        motors = new MotorsSubsystem(hardwareMap, telemetry);
+        lift = new LiftSubsystem(hardwareMap);
+
+        claw.init();
+        arm.init();
+        wrist.init();
+        lift.init();
+        motors.init();
+
+        currentGamepad1 = new Gamepad();
+        previousGamepad1 = new Gamepad();
+        currentGamepad2 = new Gamepad();
+        previousGamepad2 = new Gamepad();
+
+        follower.setMaxPower(this.power);
+        follower.startTeleopDrive();
+
+    }
+
+    public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
+        if (currentGamepad1.a && !previousGamepad1.a) {
+            wrist.floorWrist();
+            arm.engageArm();
+        }
+    }
+
+    public void thePickup(ClawSubsystem claw) {
+        if (currentGamepad1.x && !previousGamepad1.x) {
+            claw.switchState();
+        }
+    }
+
+    public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
+        if (currentGamepad1.b && !previousGamepad1.b) {
+            arm.parkArm();
+            wrist.bucketWrist();
+        }
+    }
+
+    public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
+        if (currentGamepad1.y && !previousGamepad1.y) {
+            lift.toLowBucket();
+            wrist.bucketWrist();
+        }
+    }
+
+    @Override
+    public void loop() {
+
+        previousGamepad1.copy(currentGamepad1);
+        currentGamepad1.copy(gamepad1);
+
+        previousGamepad2.copy(currentGamepad2);
+        currentGamepad2.copy(gamepad2);
+
+        theDrop(arm, wrist);
+        thePickup(claw);
+        theLift(arm, wrist);
+        theLowBucketScore(lift, wrist, arm);
+
+        follower.setTeleOpMovementVectors(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x);
+        follower.update();
+
+    }
+
+}

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

@@ -0,0 +1,196 @@
+package org.firstinspires.ftc.teamcode;
+
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_ENCODER_DIRECTION;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_LEFT_MOTOR_DIRECTION;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.BACK_RIGHT_MOTOR_DIRECTION;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_LEFT_MOTOR_DIRECTION;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR;
+import static org.firstinspires.ftc.teamcode.PedroConstants.FRONT_RIGHT_MOTOR_DIRECTION;
+import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER;
+import static org.firstinspires.ftc.teamcode.PedroConstants.LEFT_ENCODER_DIRECTION;
+import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER;
+import static org.firstinspires.ftc.teamcode.PedroConstants.RIGHT_ENCODER_DIRECTION;
+
+import android.graphics.Point;
+
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.Gamepad;
+
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
+import org.firstinspires.ftc.teamcode.subsystem.ArmSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.ClawSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.LiftSubsystem;
+import org.firstinspires.ftc.teamcode.subsystem.WristSubsystem;
+
+@TeleOp(name = "Dev Teleop", group = "Debug")
+public class DevTeleop extends OpMode {
+
+    public ClawSubsystem claw;
+    public ArmSubsystem arm;
+    public WristSubsystem wrist;
+    public LiftSubsystem lift;
+    public Gamepad currentGamepad1;
+    public Gamepad previousGamepad1;
+    public Gamepad currentGamepad2;
+    public Gamepad previousGamepad2;
+    public DcMotor frontLeftMotor;
+    public DcMotor backLeftMotor;
+    public DcMotor frontRightMotor;
+    public DcMotor backRightMotor;
+
+    private double MAX_POWER = .45;
+    @Override
+    public void init() {
+        claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.CLOSED);
+        arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
+        wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
+        lift = new LiftSubsystem(hardwareMap);
+        claw.init();
+        arm.init();
+        wrist.init();
+        lift.init();
+
+        frontLeftMotor  = hardwareMap.get(DcMotor.class, FRONT_LEFT_MOTOR);
+        backLeftMotor  = hardwareMap.get(DcMotor.class, BACK_LEFT_MOTOR);
+        frontRightMotor = hardwareMap.get(DcMotor.class, FRONT_RIGHT_MOTOR);
+        backRightMotor = hardwareMap.get(DcMotor.class, BACK_RIGHT_MOTOR);
+
+        frontLeftMotor.setDirection(FRONT_LEFT_MOTOR_DIRECTION);
+        backLeftMotor.setDirection(BACK_LEFT_MOTOR_DIRECTION);
+        frontRightMotor.setDirection(FRONT_RIGHT_MOTOR_DIRECTION);
+        backRightMotor.setDirection(BACK_RIGHT_MOTOR_DIRECTION);
+
+        currentGamepad1 = new Gamepad();
+        previousGamepad1 = new Gamepad();
+        currentGamepad2 = new Gamepad();
+        previousGamepad2 = new Gamepad();
+    }
+
+    public void theDrop(ArmSubsystem arm, WristSubsystem wrist) {
+//pick up
+        if (currentGamepad2.dpad_down && !previousGamepad2.dpad_down) {
+            wrist.floorWrist();
+            arm.engageArm();
+        }
+
+
+
+    }
+    public void thePickup(ClawSubsystem claw) {
+//claw open close
+        if (currentGamepad2.right_bumper && !previousGamepad2.right_bumper) {
+            claw.switchState();
+        }
+
+    }
+
+    /* public void theLift(ArmSubsystem arm, WristSubsystem wrist) {
+
+        if (currentGamepad1.b && !previousGamepad1.b) {
+            arm.parkArm();
+            wrist.bucketWrist();
+        }
+
+    }
+*/
+    public void theLowBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
+//low bucket
+        if (currentGamepad2.a && !previousGamepad2.a) {
+            lift.toLowBucket();
+            arm.bucketArm();
+            wrist.bucketWrist();
+        }
+    }
+
+    public void theHighBucketScore(LiftSubsystem lift, WristSubsystem wrist, ArmSubsystem arm) {
+//high basket
+        if (currentGamepad2.b && !previousGamepad2.b) {
+            lift.toHighBucket();
+            arm.bucketArm();
+            wrist.bucketWrist();
+        }
+    }
+
+    public void theTravel(LiftSubsystem lift, ArmSubsystem arm, WristSubsystem wrist){
+//
+        if (currentGamepad2.dpad_right && !previousGamepad2.dpad_right){
+            lift.toFloor();
+            arm.bucketArm();
+            wrist.floorWrist();
+        }
+    }
+
+    public void hoverState(ArmSubsystem arm, WristSubsystem wrist, LiftSubsystem lift){
+        if (currentGamepad1.dpad_left && !previousGamepad2.dpad_left){
+            lift.toHover();
+            wrist.floorWrist();
+            arm.engageArm();
+        }
+
+
+    }
+
+    @Override
+    public void loop() {
+        previousGamepad1.copy(currentGamepad1);
+        currentGamepad1.copy(gamepad1);
+        previousGamepad2.copy(currentGamepad2);
+        currentGamepad2.copy(gamepad2);
+
+
+        theDrop(arm, wrist);
+        thePickup(claw);
+       // theLift(arm, wrist);
+        theLowBucketScore(lift, wrist, arm);
+        theHighBucketScore(lift, wrist, arm);
+        theTravel(lift, arm, wrist);
+
+        double max;
+
+        // POV Mode uses left joystick to go forward & strafe, and right joystick to rotate.
+        double axial   = -gamepad1.left_stick_y;  // Note: pushing stick forward gives negative value
+        double lateral =  gamepad1.left_stick_x;
+        double yaw     =  gamepad1.right_stick_x;
+
+        // Combine the joystick requests for each axis-motion to determine each wheel's power.
+        // Set up a variable for each drive wheel to save the power level for telemetry.
+        double leftFrontPower  = axial + lateral + yaw;
+        double rightFrontPower = axial - lateral - yaw;
+        double leftBackPower   = axial - lateral + yaw;
+        double rightBackPower  = axial + lateral - yaw;
+
+        // Normalize the values so no wheel power exceeds 100%
+        // This ensures that the robot maintains the desired motion.
+        max = Math.max(Math.abs(leftFrontPower), Math.abs(rightFrontPower));
+        max = Math.max(max, Math.abs(leftBackPower));
+        max = Math.max(max, Math.abs(rightBackPower));
+
+        if (max > 1.0) {
+            leftFrontPower  /= max;
+            rightFrontPower /= max;
+            leftBackPower   /= max;
+            rightBackPower  /= max;
+        }
+
+
+        // Send calculated power to wheels
+        frontLeftMotor.setPower(leftFrontPower * MAX_POWER);
+        frontRightMotor.setPower(rightFrontPower * MAX_POWER);
+        backLeftMotor.setPower(leftBackPower * MAX_POWER);
+        backRightMotor.setPower(rightBackPower * MAX_POWER);
+
+        // Show the elapsed game time and wheel power.
+        telemetry.addData("Front left/Right", "%4.2f, %4.2f", leftFrontPower, rightFrontPower);
+        telemetry.addData("Back  left/Right", "%4.2f, %4.2f", leftBackPower, rightBackPower);
+        telemetry.addData("Current Lift Position", lift.getPosition());
+        telemetry.update();
+
+    }
+}

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

@@ -1,22 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.dashboard.canvas.Canvas;
-import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.Vector2d;
-
-public final class Drawing {
-    private Drawing() {}
-
-
-    public static void drawRobot(Canvas c, Pose2d t) {
-        final double ROBOT_RADIUS = 9;
-
-        c.setStrokeWidth(1);
-        c.strokeCircle(t.position.x, t.position.y, ROBOT_RADIUS);
-
-        Vector2d halfv = t.heading.vec().times(0.5 * ROBOT_RADIUS);
-        Vector2d p1 = t.position.plus(halfv);
-        Vector2d p2 = p1.plus(halfv);
-        c.strokeLine(p1.x, p1.y, p2.x, p2.y);
-    }
-}

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

@@ -1,8 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.roadrunner.Time;
-import com.acmerobotics.roadrunner.Twist2dDual;
-
-public interface Localizer {
-    Twist2dDual<Time> update();
-}

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

@@ -1,489 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.canvas.Canvas;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.*;
-import com.acmerobotics.roadrunner.AngularVelConstraint;
-import com.acmerobotics.roadrunner.DualNum;
-import com.acmerobotics.roadrunner.HolonomicController;
-import com.acmerobotics.roadrunner.MecanumKinematics;
-import com.acmerobotics.roadrunner.MinVelConstraint;
-import com.acmerobotics.roadrunner.MotorFeedforward;
-import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.Pose2dDual;
-import com.acmerobotics.roadrunner.ProfileAccelConstraint;
-import com.acmerobotics.roadrunner.Time;
-import com.acmerobotics.roadrunner.TimeTrajectory;
-import com.acmerobotics.roadrunner.TimeTurn;
-import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
-import com.acmerobotics.roadrunner.TurnConstraints;
-import com.acmerobotics.roadrunner.Twist2dDual;
-import com.acmerobotics.roadrunner.VelConstraint;
-import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
-import com.acmerobotics.roadrunner.ftc.Encoder;
-import com.acmerobotics.roadrunner.ftc.FlightRecorder;
-import com.acmerobotics.roadrunner.ftc.LazyImu;
-import com.acmerobotics.roadrunner.ftc.LynxFirmware;
-import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-import com.acmerobotics.roadrunner.ftc.RawEncoder;
-import com.qualcomm.hardware.lynx.LynxModule;
-import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
-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 com.qualcomm.robotcore.hardware.IMU;
-import com.qualcomm.robotcore.hardware.VoltageSensor;
-
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
-import org.firstinspires.ftc.teamcode.messages.DriveCommandMessage;
-import org.firstinspires.ftc.teamcode.messages.MecanumCommandMessage;
-import org.firstinspires.ftc.teamcode.messages.MecanumLocalizerInputsMessage;
-import org.firstinspires.ftc.teamcode.messages.PoseMessage;
-
-import java.lang.Math;
-import java.util.Arrays;
-import java.util.LinkedList;
-import java.util.List;
-
-@Config
-public final class MecanumDrive {
-    public static class Params {
-        // IMU orientation
-        // TODO: fill in these values based on
-        //   see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
-        public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
-                RevHubOrientationOnRobot.LogoFacingDirection.UP;
-        public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
-                RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
-
-        // drive model parameters
-        public double inPerTick = 1;
-        public double lateralInPerTick = inPerTick;
-        public double trackWidthTicks = 0;
-
-        // feedforward parameters (in tick units)
-        public double kS = 0;
-        public double kV = 0;
-        public double kA = 0;
-
-        // path profile parameters (in inches)
-        public double maxWheelVel = 50;
-        public double minProfileAccel = -30;
-        public double maxProfileAccel = 50;
-
-        // turn profile parameters (in radians)
-        public double maxAngVel = Math.PI; // shared with path
-        public double maxAngAccel = Math.PI;
-
-        // path controller gains
-        public double axialGain = 0.0;
-        public double lateralGain = 0.0;
-        public double headingGain = 0.0; // shared with turn
-
-        public double axialVelGain = 0.0;
-        public double lateralVelGain = 0.0;
-        public double headingVelGain = 0.0; // shared with turn
-    }
-
-    public static Params PARAMS = new Params();
-
-    public final MecanumKinematics kinematics = new MecanumKinematics(
-            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
-
-    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
-            PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
-    public final VelConstraint defaultVelConstraint =
-            new MinVelConstraint(Arrays.asList(
-                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
-                    new AngularVelConstraint(PARAMS.maxAngVel)
-            ));
-    public final AccelConstraint defaultAccelConstraint =
-            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
-
-    public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
-
-    public final VoltageSensor voltageSensor;
-
-    public final LazyImu lazyImu;
-
-    public final Localizer localizer;
-    public Pose2d pose;
-
-    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
-
-    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
-    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
-    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
-    private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
-
-    public class DriveLocalizer implements Localizer {
-        public final Encoder leftFront, leftBack, rightBack, rightFront;
-        public final IMU imu;
-
-        private int lastLeftFrontPos, lastLeftBackPos, lastRightBackPos, lastRightFrontPos;
-        private Rotation2d lastHeading;
-        private boolean initialized;
-
-        public DriveLocalizer() {
-            leftFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftFront));
-            leftBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.leftBack));
-            rightBack = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightBack));
-            rightFront = new OverflowEncoder(new RawEncoder(MecanumDrive.this.rightFront));
-
-            imu = lazyImu.get();
-
-            // TODO: reverse encoders if needed
-            //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-        }
-
-        @Override
-        public Twist2dDual<Time> update() {
-            PositionVelocityPair leftFrontPosVel = leftFront.getPositionAndVelocity();
-            PositionVelocityPair leftBackPosVel = leftBack.getPositionAndVelocity();
-            PositionVelocityPair rightBackPosVel = rightBack.getPositionAndVelocity();
-            PositionVelocityPair rightFrontPosVel = rightFront.getPositionAndVelocity();
-
-            YawPitchRollAngles angles = imu.getRobotYawPitchRollAngles();
-
-            FlightRecorder.write("MECANUM_LOCALIZER_INPUTS", new MecanumLocalizerInputsMessage(
-                    leftFrontPosVel, leftBackPosVel, rightBackPosVel, rightFrontPosVel, angles));
-
-            Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
-
-            if (!initialized) {
-                initialized = true;
-
-                lastLeftFrontPos = leftFrontPosVel.position;
-                lastLeftBackPos = leftBackPosVel.position;
-                lastRightBackPos = rightBackPosVel.position;
-                lastRightFrontPos = rightFrontPosVel.position;
-
-                lastHeading = heading;
-
-                return new Twist2dDual<>(
-                        Vector2dDual.constant(new Vector2d(0.0, 0.0), 2),
-                        DualNum.constant(0.0, 2)
-                );
-            }
-
-            double headingDelta = heading.minus(lastHeading);
-            Twist2dDual<Time> twist = kinematics.forward(new MecanumKinematics.WheelIncrements<>(
-                    new DualNum<Time>(new double[]{
-                            (leftFrontPosVel.position - lastLeftFrontPos),
-                            leftFrontPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
-                    new DualNum<Time>(new double[]{
-                            (leftBackPosVel.position - lastLeftBackPos),
-                            leftBackPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
-                    new DualNum<Time>(new double[]{
-                            (rightBackPosVel.position - lastRightBackPos),
-                            rightBackPosVel.velocity,
-                    }).times(PARAMS.inPerTick),
-                    new DualNum<Time>(new double[]{
-                            (rightFrontPosVel.position - lastRightFrontPos),
-                            rightFrontPosVel.velocity,
-                    }).times(PARAMS.inPerTick)
-            ));
-
-            lastLeftFrontPos = leftFrontPosVel.position;
-            lastLeftBackPos = leftBackPosVel.position;
-            lastRightBackPos = rightBackPosVel.position;
-            lastRightFrontPos = rightFrontPosVel.position;
-
-            lastHeading = heading;
-
-            return new Twist2dDual<>(
-                    twist.line,
-                    DualNum.cons(headingDelta, twist.angle.drop(1))
-            );
-        }
-    }
-
-    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
-        this.pose = pose;
-
-        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
-
-        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
-            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
-        }
-
-        // TODO: make sure your config has motors with these names (or change them)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
-        leftBack = hardwareMap.get(DcMotorEx.class, "leftBack");
-        rightBack = hardwareMap.get(DcMotorEx.class, "rightBack");
-        rightFront = hardwareMap.get(DcMotorEx.class, "rightFront");
-
-        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-
-        // TODO: reverse motor directions if needed
-        //   leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        lazyImu = new LazyImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
-                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
-
-        voltageSensor = hardwareMap.voltageSensor.iterator().next();
-
-        localizer = new DriveLocalizer();
-
-        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
-    }
-
-    public void setDrivePowers(PoseVelocity2d powers) {
-        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
-                PoseVelocity2dDual.constant(powers, 1));
-
-        double maxPowerMag = 1;
-        for (DualNum<Time> power : wheelVels.all()) {
-            maxPowerMag = Math.max(maxPowerMag, power.value());
-        }
-
-        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
-        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
-        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
-        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
-    }
-
-    public final class FollowTrajectoryAction implements Action {
-        public final TimeTrajectory timeTrajectory;
-        private double beginTs = -1;
-
-        private final double[] xPoints, yPoints;
-
-        public FollowTrajectoryAction(TimeTrajectory t) {
-            timeTrajectory = t;
-
-            List<Double> disps = com.acmerobotics.roadrunner.Math.range(
-                    0, t.path.length(),
-                    Math.max(2, (int) Math.ceil(t.path.length() / 2)));
-            xPoints = new double[disps.size()];
-            yPoints = new double[disps.size()];
-            for (int i = 0; i < disps.size(); i++) {
-                Pose2d p = t.path.get(disps.get(i), 1).value();
-                xPoints[i] = p.position.x;
-                yPoints[i] = p.position.y;
-            }
-        }
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket p) {
-            double t;
-            if (beginTs < 0) {
-                beginTs = Actions.now();
-                t = 0;
-            } else {
-                t = Actions.now() - beginTs;
-            }
-
-            if (t >= timeTrajectory.duration) {
-                leftFront.setPower(0);
-                leftBack.setPower(0);
-                rightBack.setPower(0);
-                rightFront.setPower(0);
-
-                return false;
-            }
-
-            Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
-            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
-
-            PoseVelocity2d robotVelRobot = updatePoseEstimate();
-
-            PoseVelocity2dDual<Time> command = new HolonomicController(
-                    PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
-                    PARAMS.axialVelGain, PARAMS.lateralVelGain, PARAMS.headingVelGain
-            )
-                    .compute(txWorldTarget, pose, robotVelRobot);
-            driveCommandWriter.write(new DriveCommandMessage(command));
-
-            MecanumKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command);
-            double voltage = voltageSensor.getVoltage();
-
-            final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS,
-                    PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
-            double leftFrontPower = feedforward.compute(wheelVels.leftFront) / voltage;
-            double leftBackPower = feedforward.compute(wheelVels.leftBack) / voltage;
-            double rightBackPower = feedforward.compute(wheelVels.rightBack) / voltage;
-            double rightFrontPower = feedforward.compute(wheelVels.rightFront) / voltage;
-            mecanumCommandWriter.write(new MecanumCommandMessage(
-                    voltage, leftFrontPower, leftBackPower, rightBackPower, rightFrontPower
-            ));
-
-            leftFront.setPower(leftFrontPower);
-            leftBack.setPower(leftBackPower);
-            rightBack.setPower(rightBackPower);
-            rightFront.setPower(rightFrontPower);
-
-            p.put("x", pose.position.x);
-            p.put("y", pose.position.y);
-            p.put("heading (deg)", Math.toDegrees(pose.heading.toDouble()));
-
-            Pose2d error = txWorldTarget.value().minusExp(pose);
-            p.put("xError", error.position.x);
-            p.put("yError", error.position.y);
-            p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
-
-            // only draw when active; only one drive action should be active at a time
-            Canvas c = p.fieldOverlay();
-            drawPoseHistory(c);
-
-            c.setStroke("#4CAF50");
-            Drawing.drawRobot(c, txWorldTarget.value());
-
-            c.setStroke("#3F51B5");
-            Drawing.drawRobot(c, pose);
-
-            c.setStroke("#4CAF50FF");
-            c.setStrokeWidth(1);
-            c.strokePolyline(xPoints, yPoints);
-
-            return true;
-        }
-
-        @Override
-        public void preview(Canvas c) {
-            c.setStroke("#4CAF507A");
-            c.setStrokeWidth(1);
-            c.strokePolyline(xPoints, yPoints);
-        }
-    }
-
-    public final class TurnAction implements Action {
-        private final TimeTurn turn;
-
-        private double beginTs = -1;
-
-        public TurnAction(TimeTurn turn) {
-            this.turn = turn;
-        }
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket p) {
-            double t;
-            if (beginTs < 0) {
-                beginTs = Actions.now();
-                t = 0;
-            } else {
-                t = Actions.now() - beginTs;
-            }
-
-            if (t >= turn.duration) {
-                leftFront.setPower(0);
-                leftBack.setPower(0);
-                rightBack.setPower(0);
-                rightFront.setPower(0);
-
-                return false;
-            }
-
-            Pose2dDual<Time> txWorldTarget = turn.get(t);
-            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
-
-            PoseVelocity2d robotVelRobot = updatePoseEstimate();
-
-            PoseVelocity2dDual<Time> command = new HolonomicController(
-                    PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
-                    PARAMS.axialVelGain, PARAMS.lateralVelGain, PARAMS.headingVelGain
-            )
-                    .compute(txWorldTarget, pose, robotVelRobot);
-            driveCommandWriter.write(new DriveCommandMessage(command));
-
-            MecanumKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command);
-            double voltage = voltageSensor.getVoltage();
-            final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS,
-                    PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
-            double leftFrontPower = feedforward.compute(wheelVels.leftFront) / voltage;
-            double leftBackPower = feedforward.compute(wheelVels.leftBack) / voltage;
-            double rightBackPower = feedforward.compute(wheelVels.rightBack) / voltage;
-            double rightFrontPower = feedforward.compute(wheelVels.rightFront) / voltage;
-            mecanumCommandWriter.write(new MecanumCommandMessage(
-                    voltage, leftFrontPower, leftBackPower, rightBackPower, rightFrontPower
-            ));
-
-            leftFront.setPower(feedforward.compute(wheelVels.leftFront) / voltage);
-            leftBack.setPower(feedforward.compute(wheelVels.leftBack) / voltage);
-            rightBack.setPower(feedforward.compute(wheelVels.rightBack) / voltage);
-            rightFront.setPower(feedforward.compute(wheelVels.rightFront) / voltage);
-
-            Canvas c = p.fieldOverlay();
-            drawPoseHistory(c);
-
-            c.setStroke("#4CAF50");
-            Drawing.drawRobot(c, txWorldTarget.value());
-
-            c.setStroke("#3F51B5");
-            Drawing.drawRobot(c, pose);
-
-            c.setStroke("#7C4DFFFF");
-            c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
-
-            return true;
-        }
-
-        @Override
-        public void preview(Canvas c) {
-            c.setStroke("#7C4DFF7A");
-            c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
-        }
-    }
-
-    public PoseVelocity2d updatePoseEstimate() {
-        Twist2dDual<Time> twist = localizer.update();
-        pose = pose.plus(twist.value());
-
-        poseHistory.add(pose);
-        while (poseHistory.size() > 100) {
-            poseHistory.removeFirst();
-        }
-
-        estimatedPoseWriter.write(new PoseMessage(pose));
-
-        return twist.velocity().value();
-    }
-
-    private void drawPoseHistory(Canvas c) {
-        double[] xPoints = new double[poseHistory.size()];
-        double[] yPoints = new double[poseHistory.size()];
-
-        int i = 0;
-        for (Pose2d t : poseHistory) {
-            xPoints[i] = t.position.x;
-            yPoints[i] = t.position.y;
-
-            i++;
-        }
-
-        c.setStrokeWidth(1);
-        c.setStroke("#3F51B5");
-        c.strokePolyline(xPoints, yPoints);
-    }
-
-    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
-        return new TrajectoryActionBuilder(
-                TurnAction::new,
-                FollowTrajectoryAction::new,
-                new TrajectoryBuilderParams(
-                        1e-6,
-                        new ProfileParams(
-                                0.25, 0.1, 1e-2
-                        )
-                ),
-                beginPose, 0.0,
-                defaultTurnConstraints,
-                defaultVelConstraint, defaultAccelConstraint
-        );
-    }
-}

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 BRAIN_ROT = "Sikidi rizz 360 no teleop tf2 mama mia 2cool 4skool yasyasy yasyasyasyasyasyasyaysy ohio yes heh me is moar skeebeedee than u walked and got tripped on by your aunt my very educaded mother just served us nine what? just kydinfoiwfowefwofwioefoiejfeoiwjfomdsklfnslefknesfklnkfenfenkfeknfenkfeknfenkefnk";
+    public static final String FRONT_LEFT_MOTOR = "Drive front lt";
+    public static final String BACK_LEFT_MOTOR  = "Drive back lt";
+    public static final String FRONT_RIGHT_MOTOR  = "Drive front rt";
+    public static final String BACK_RIGHT_MOTOR  = "Drive back rt";
+
+    // Robot motor direction
+    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.FORWARD;
+    public static final double RIGHT_ENCODER_DIRECTION = Encoder.FORWARD;
+    public static final double BACK_ENCODER_DIRECTION = Encoder.FORWARD;
+
+    /*
+        Pedro's parameters
+    */
+
+    // 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 = -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 = -99.672;
+
+    // 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/README.md

@@ -0,0 +1,131 @@
+## TeamCode Module
+
+Welcome!
+
+This module, TeamCode, is the place where you will write/paste the code for your team's
+robot controller App. This module is currently empty (a clean slate) but the
+process for adding OpModes is straightforward.
+
+## Creating your own OpModes
+
+The easiest way to create your own OpMode is to copy a Sample OpMode and make it your own.
+
+Sample opmodes exist in the FtcRobotController module.
+To locate these samples, find the FtcRobotController module in the "Project/Android" tab.
+
+Expand the following tree elements:
+ FtcRobotController/java/org.firstinspires.ftc.robotcontroller/external/samples
+
+### Naming of Samples
+
+To gain a better understanding of how the samples are organized, and how to interpret the
+naming system, it will help to understand the conventions that were used during their creation.
+
+These conventions are described (in detail) in the sample_conventions.md file in this folder.
+
+To summarize: A range of different samples classes will reside in the java/external/samples.
+The class names will follow a naming convention which indicates the purpose of each class.
+The prefix of the name will be one of the following:
+
+Basic:  	This is a minimally functional OpMode used to illustrate the skeleton/structure
+            of a particular style of OpMode.  These are bare bones examples.
+
+Sensor:    	This is a Sample OpMode that shows how to use a specific sensor.
+            It is not intended to drive a functioning robot, it is simply showing the minimal code
+            required to read and display the sensor values.
+
+Robot:	    This is a Sample OpMode that assumes a simple two-motor (differential) drive base.
+            It may be used to provide a common baseline driving OpMode, or
+            to demonstrate how a particular sensor or concept can be used to navigate.
+
+Concept:	This is a sample OpMode that illustrates performing a specific function or concept.
+            These may be complex, but their operation should be explained clearly in the comments,
+            or the comments should reference an external doc, guide or tutorial.
+            Each OpMode should try to only demonstrate a single concept so they are easy to
+            locate based on their name.  These OpModes may not produce a drivable robot.
+
+After the prefix, other conventions will apply:
+
+* Sensor class names are constructed as:    Sensor - Company - Type
+* Robot class names are constructed as:     Robot - Mode - Action - OpModetype
+* Concept class names are constructed as:   Concept - Topic - OpModetype
+
+Once you are familiar with the range of samples available, you can choose one to be the
+basis for your own robot.  In all cases, the desired sample(s) needs to be copied into
+your TeamCode module to be used.
+
+This is done inside Android Studio directly, using the following steps:
+
+ 1) Locate the desired sample class in the Project/Android tree.
+
+ 2) Right click on the sample class and select "Copy"
+
+ 3) Expand the  TeamCode/java folder
+
+ 4) Right click on the org.firstinspires.ftc.teamcode folder and select "Paste"
+
+ 5) You will be prompted for a class name for the copy.
+    Choose something meaningful based on the purpose of this class.
+    Start with a capital letter, and remember that there may be more similar classes later.
+
+Once your copy has been created, you should prepare it for use on your robot.
+This is done by adjusting the OpMode's name, and enabling it to be displayed on the
+Driver Station's OpMode list.
+
+Each OpMode sample class begins with several lines of code like the ones shown below:
+
+```
+ @TeleOp(name="Template: Linear OpMode", group="Linear Opmode")
+ @Disabled
+```
+
+The name that will appear on the driver station's "opmode list" is defined by the code:
+ ``name="Template: Linear OpMode"``
+You can change what appears between the quotes to better describe your opmode.
+The "group=" portion of the code can be used to help organize your list of OpModes.
+
+As shown, the current OpMode will NOT appear on the driver station's OpMode list because of the
+  ``@Disabled`` annotation which has been included.
+This line can simply be deleted , or commented out, to make the OpMode visible.
+
+
+
+## ADVANCED Multi-Team App management:  Cloning the TeamCode Module
+
+In some situations, you have multiple teams in your club and you want them to all share
+a common code organization, with each being able to *see* the others code but each having
+their own team module with their own code that they maintain themselves.
+
+In this situation, you might wish to clone the TeamCode module, once for each of these teams.
+Each of the clones would then appear along side each other in the Android Studio module list,
+together with the FtcRobotController module (and the original TeamCode module).
+
+Selective Team phones can then be programmed by selecting the desired Module from the pulldown list
+prior to clicking to the green Run arrow.
+
+Warning:  This is not for the inexperienced Software developer.
+You will need to be comfortable with File manipulations and managing Android Studio Modules.
+These changes are performed OUTSIDE of Android Studios, so close Android Studios before you do this.
+ 
+Also.. Make a full project backup before you start this :)
+
+To clone TeamCode, do the following:
+
+Note: Some names start with "Team" and others start with "team".  This is intentional.
+
+1)  Using your operating system file management tools, copy the whole "TeamCode"
+    folder to a sibling folder with a corresponding new name, eg: "Team0417".
+
+2)  In the new Team0417 folder, delete the TeamCode.iml file.
+
+3)  the new Team0417 folder, rename the "src/main/java/org/firstinspires/ftc/teamcode" folder
+    to a matching name with a lowercase 'team' eg:  "team0417".
+
+4)  In the new Team0417/src/main folder, edit the "AndroidManifest.xml" file, change the line that contains
+         package="org.firstinspires.ftc.teamcode"
+    to be
+         package="org.firstinspires.ftc.team0417"
+
+5)  Add:    include ':Team0417' to the "/settings.gradle" file.
+    
+6)  Open up Android Studios and clean out any old files by using the menu to "Build/Clean Project""

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

@@ -1,498 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import androidx.annotation.NonNull;
-
-import com.acmerobotics.dashboard.canvas.Canvas;
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.AccelConstraint;
-import com.acmerobotics.roadrunner.Action;
-import com.acmerobotics.roadrunner.Actions;
-import com.acmerobotics.roadrunner.AngularVelConstraint;
-import com.acmerobotics.roadrunner.Arclength;
-import com.acmerobotics.roadrunner.DualNum;
-import com.acmerobotics.roadrunner.MinVelConstraint;
-import com.acmerobotics.roadrunner.MotorFeedforward;
-import com.acmerobotics.roadrunner.Pose2d;
-import com.acmerobotics.roadrunner.Pose2dDual;
-import com.acmerobotics.roadrunner.PoseVelocity2d;
-import com.acmerobotics.roadrunner.PoseVelocity2dDual;
-import com.acmerobotics.roadrunner.ProfileAccelConstraint;
-import com.acmerobotics.roadrunner.ProfileParams;
-import com.acmerobotics.roadrunner.RamseteController;
-import com.acmerobotics.roadrunner.TankKinematics;
-import com.acmerobotics.roadrunner.Time;
-import com.acmerobotics.roadrunner.TimeTrajectory;
-import com.acmerobotics.roadrunner.TimeTurn;
-import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
-import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
-import com.acmerobotics.roadrunner.TurnConstraints;
-import com.acmerobotics.roadrunner.Twist2dDual;
-import com.acmerobotics.roadrunner.Vector2d;
-import com.acmerobotics.roadrunner.Vector2dDual;
-import com.acmerobotics.roadrunner.VelConstraint;
-import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
-import com.acmerobotics.roadrunner.ftc.Encoder;
-import com.acmerobotics.roadrunner.ftc.FlightRecorder;
-import com.acmerobotics.roadrunner.ftc.LazyImu;
-import com.acmerobotics.roadrunner.ftc.LynxFirmware;
-import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-import com.acmerobotics.roadrunner.ftc.RawEncoder;
-import com.qualcomm.hardware.lynx.LynxModule;
-import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
-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 com.qualcomm.robotcore.hardware.VoltageSensor;
-
-import org.firstinspires.ftc.teamcode.messages.DriveCommandMessage;
-import org.firstinspires.ftc.teamcode.messages.PoseMessage;
-import org.firstinspires.ftc.teamcode.messages.TankCommandMessage;
-import org.firstinspires.ftc.teamcode.messages.TankLocalizerInputsMessage;
-
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Collections;
-import java.util.LinkedList;
-import java.util.List;
-
-@Config
-public final class TankDrive {
-    public static class Params {
-        // IMU orientation
-        // TODO: fill in these values based on
-        //   see https://ftc-docs.firstinspires.org/en/latest/programming_resources/imu/imu.html?highlight=imu#physical-hub-mounting
-        public RevHubOrientationOnRobot.LogoFacingDirection logoFacingDirection =
-                RevHubOrientationOnRobot.LogoFacingDirection.UP;
-        public RevHubOrientationOnRobot.UsbFacingDirection usbFacingDirection =
-                RevHubOrientationOnRobot.UsbFacingDirection.FORWARD;
-
-        // drive model parameters
-        public double inPerTick = 0;
-        public double trackWidthTicks = 0;
-
-        // feedforward parameters (in tick units)
-        public double kS = 0;
-        public double kV = 0;
-        public double kA = 0;
-
-        // path profile parameters (in inches)
-        public double maxWheelVel = 50;
-        public double minProfileAccel = -30;
-        public double maxProfileAccel = 50;
-
-        // turn profile parameters (in radians)
-        public double maxAngVel = Math.PI; // shared with path
-        public double maxAngAccel = Math.PI;
-
-        // path controller gains
-        public double ramseteZeta = 0.7; // in the range (0, 1)
-        public double ramseteBBar = 2.0; // positive
-
-        // turn controller gains
-        public double turnGain = 0.0;
-        public double turnVelGain = 0.0;
-    }
-
-    public static Params PARAMS = new Params();
-
-    public final TankKinematics kinematics = new TankKinematics(PARAMS.inPerTick * PARAMS.trackWidthTicks);
-
-    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
-            PARAMS.maxAngVel, -PARAMS.maxAngVel, PARAMS.maxAngAccel);
-    public final VelConstraint defaultVelConstraint =
-            new MinVelConstraint(Arrays.asList(
-                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
-                    new AngularVelConstraint(PARAMS.maxAngVel)
-            ));
-    public final AccelConstraint defaultAccelConstraint =
-            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
-
-    public final List<DcMotorEx> leftMotors, rightMotors;
-
-    public final LazyImu lazyImu;
-
-    public final VoltageSensor voltageSensor;
-
-    public final Localizer localizer;
-    public Pose2d pose;
-
-    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
-
-    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
-    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
-    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
-
-    private final DownsampledWriter tankCommandWriter = new DownsampledWriter("TANK_COMMAND", 50_000_000);
-
-    public class DriveLocalizer implements Localizer {
-        public final List<Encoder> leftEncs, rightEncs;
-
-        private double lastLeftPos, lastRightPos;
-        private boolean initialized;
-
-        public DriveLocalizer() {
-            {
-                List<Encoder> leftEncs = new ArrayList<>();
-                for (DcMotorEx m : leftMotors) {
-                    Encoder e = new OverflowEncoder(new RawEncoder(m));
-                    leftEncs.add(e);
-                }
-                this.leftEncs = Collections.unmodifiableList(leftEncs);
-            }
-
-            {
-                List<Encoder> rightEncs = new ArrayList<>();
-                for (DcMotorEx m : rightMotors) {
-                    Encoder e = new OverflowEncoder(new RawEncoder(m));
-                    rightEncs.add(e);
-                }
-                this.rightEncs = Collections.unmodifiableList(rightEncs);
-            }
-
-            // TODO: reverse encoder directions if needed
-            //   leftEncs.get(0).setDirection(DcMotorSimple.Direction.REVERSE);
-        }
-
-        @Override
-        public Twist2dDual<Time> update() {
-            List<PositionVelocityPair> leftReadings = new ArrayList<>(), rightReadings = new ArrayList<>();
-            double meanLeftPos = 0.0, meanLeftVel = 0.0;
-            for (Encoder e : leftEncs) {
-                PositionVelocityPair p = e.getPositionAndVelocity();
-                meanLeftPos += p.position;
-                meanLeftVel += p.velocity;
-                leftReadings.add(p);
-            }
-            meanLeftPos /= leftEncs.size();
-            meanLeftVel /= leftEncs.size();
-
-            double meanRightPos = 0.0, meanRightVel = 0.0;
-            for (Encoder e : rightEncs) {
-                PositionVelocityPair p = e.getPositionAndVelocity();
-                meanRightPos += p.position;
-                meanRightVel += p.velocity;
-                rightReadings.add(p);
-            }
-            meanRightPos /= rightEncs.size();
-            meanRightVel /= rightEncs.size();
-
-            FlightRecorder.write("TANK_LOCALIZER_INPUTS",
-                     new TankLocalizerInputsMessage(leftReadings, rightReadings));
-
-            if (!initialized) {
-                initialized = true;
-
-                lastLeftPos = meanLeftPos;
-                lastRightPos = meanRightPos;
-
-                return new Twist2dDual<>(
-                        Vector2dDual.constant(new Vector2d(0.0, 0.0), 2),
-                        DualNum.constant(0.0, 2)
-                );
-            }
-
-            TankKinematics.WheelIncrements<Time> twist = new TankKinematics.WheelIncrements<>(
-                    new DualNum<Time>(new double[] {
-                            meanLeftPos - lastLeftPos,
-                            meanLeftVel
-                    }).times(PARAMS.inPerTick),
-                    new DualNum<Time>(new double[] {
-                            meanRightPos - lastRightPos,
-                            meanRightVel,
-                    }).times(PARAMS.inPerTick)
-            );
-
-            lastLeftPos = meanLeftPos;
-            lastRightPos = meanRightPos;
-
-            return kinematics.forward(twist);
-        }
-    }
-
-    public TankDrive(HardwareMap hardwareMap, Pose2d pose) {
-        this.pose = pose;
-
-        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
-
-        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
-            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
-        }
-
-        // TODO: make sure your config has motors with these names (or change them)
-        //   add additional motors on each side if you have them
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        leftMotors = Arrays.asList(hardwareMap.get(DcMotorEx.class, "left"));
-        rightMotors = Arrays.asList(hardwareMap.get(DcMotorEx.class, "right"));
-
-        for (DcMotorEx m : leftMotors) {
-            m.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        }
-        for (DcMotorEx m : rightMotors) {
-            m.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        }
-
-        // TODO: reverse motor directions if needed
-        //   leftMotors.get(0).setDirection(DcMotorSimple.Direction.REVERSE);
-
-        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        lazyImu = new LazyImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
-                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
-
-        voltageSensor = hardwareMap.voltageSensor.iterator().next();
-
-        localizer = new TankDrive.DriveLocalizer();
-
-        FlightRecorder.write("TANK_PARAMS", PARAMS);
-    }
-
-    public void setDrivePowers(PoseVelocity2d powers) {
-        TankKinematics.WheelVelocities<Time> wheelVels = new TankKinematics(2).inverse(
-                PoseVelocity2dDual.constant(powers, 1));
-
-        double maxPowerMag = 1;
-        for (DualNum<Time> power : wheelVels.all()) {
-            maxPowerMag = Math.max(maxPowerMag, power.value());
-        }
-
-        for (DcMotorEx m : leftMotors) {
-            m.setPower(wheelVels.left.get(0) / maxPowerMag);
-        }
-        for (DcMotorEx m : rightMotors) {
-            m.setPower(wheelVels.right.get(0) / maxPowerMag);
-        }
-    }
-
-    public final class FollowTrajectoryAction implements Action {
-        public final TimeTrajectory timeTrajectory;
-        private double beginTs = -1;
-
-        private final double[] xPoints, yPoints;
-
-        public FollowTrajectoryAction(TimeTrajectory t) {
-            timeTrajectory = t;
-
-            List<Double> disps = com.acmerobotics.roadrunner.Math.range(
-                    0, t.path.length(),
-                    Math.max(2, (int) Math.ceil(t.path.length() / 2)));
-            xPoints = new double[disps.size()];
-            yPoints = new double[disps.size()];
-            for (int i = 0; i < disps.size(); i++) {
-                Pose2d p = t.path.get(disps.get(i), 1).value();
-                xPoints[i] = p.position.x;
-                yPoints[i] = p.position.y;
-            }
-        }
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket p) {
-            double t;
-            if (beginTs < 0) {
-                beginTs = Actions.now();
-                t = 0;
-            } else {
-                t = Actions.now() - beginTs;
-            }
-
-            if (t >= timeTrajectory.duration) {
-                for (DcMotorEx m : leftMotors) {
-                    m.setPower(0);
-                }
-                for (DcMotorEx m : rightMotors) {
-                    m.setPower(0);
-                }
-
-                return false;
-            }
-
-            DualNum<Time> x = timeTrajectory.profile.get(t);
-
-            Pose2dDual<Arclength> txWorldTarget = timeTrajectory.path.get(x.value(), 3);
-            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
-
-            updatePoseEstimate();
-
-            PoseVelocity2dDual<Time> command = new RamseteController(kinematics.trackWidth, PARAMS.ramseteZeta, PARAMS.ramseteBBar)
-                    .compute(x, txWorldTarget, pose);
-            driveCommandWriter.write(new DriveCommandMessage(command));
-
-            TankKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command);
-            double voltage = voltageSensor.getVoltage();
-            final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS,
-                    PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
-            double leftPower = feedforward.compute(wheelVels.left) / voltage;
-            double rightPower = feedforward.compute(wheelVels.right) / voltage;
-            tankCommandWriter.write(new TankCommandMessage(voltage, leftPower, rightPower));
-
-            for (DcMotorEx m : leftMotors) {
-                m.setPower(leftPower);
-            }
-            for (DcMotorEx m : rightMotors) {
-                m.setPower(rightPower);
-            }
-
-            p.put("x", pose.position.x);
-            p.put("y", pose.position.y);
-            p.put("heading (deg)", Math.toDegrees(pose.heading.toDouble()));
-
-            Pose2d error = txWorldTarget.value().minusExp(pose);
-            p.put("xError", error.position.x);
-            p.put("yError", error.position.y);
-            p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
-
-            // only draw when active; only one drive action should be active at a time
-            Canvas c = p.fieldOverlay();
-            drawPoseHistory(c);
-
-            c.setStroke("#4CAF50");
-            Drawing.drawRobot(c, txWorldTarget.value());
-
-            c.setStroke("#3F51B5");
-            Drawing.drawRobot(c, pose);
-
-            c.setStroke("#4CAF50FF");
-            c.setStrokeWidth(1);
-            c.strokePolyline(xPoints, yPoints);
-
-            return true;
-        }
-
-        @Override
-        public void preview(Canvas c) {
-            c.setStroke("#4CAF507A");
-            c.setStrokeWidth(1);
-            c.strokePolyline(xPoints, yPoints);
-        }
-    }
-
-    public final class TurnAction implements Action {
-        private final TimeTurn turn;
-
-        private double beginTs = -1;
-
-        public TurnAction(TimeTurn turn) {
-            this.turn = turn;
-        }
-
-        @Override
-        public boolean run(@NonNull TelemetryPacket p) {
-            double t;
-            if (beginTs < 0) {
-                beginTs = Actions.now();
-                t = 0;
-            } else {
-                t = Actions.now() - beginTs;
-            }
-
-            if (t >= turn.duration) {
-                for (DcMotorEx m : leftMotors) {
-                    m.setPower(0);
-                }
-                for (DcMotorEx m : rightMotors) {
-                    m.setPower(0);
-                }
-
-                return false;
-            }
-
-            Pose2dDual<Time> txWorldTarget = turn.get(t);
-            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
-
-            PoseVelocity2d robotVelRobot = updatePoseEstimate();
-
-            PoseVelocity2dDual<Time> command = new PoseVelocity2dDual<>(
-                    Vector2dDual.constant(new Vector2d(0, 0), 3),
-                    txWorldTarget.heading.velocity().plus(
-                            PARAMS.turnGain * pose.heading.minus(txWorldTarget.heading.value()) +
-                            PARAMS.turnVelGain * (robotVelRobot.angVel - txWorldTarget.heading.velocity().value())
-                    )
-            );
-            driveCommandWriter.write(new DriveCommandMessage(command));
-
-            TankKinematics.WheelVelocities<Time> wheelVels = kinematics.inverse(command);
-            double voltage = voltageSensor.getVoltage();
-            final MotorFeedforward feedforward = new MotorFeedforward(PARAMS.kS,
-                    PARAMS.kV / PARAMS.inPerTick, PARAMS.kA / PARAMS.inPerTick);
-            double leftPower = feedforward.compute(wheelVels.left) / voltage;
-            double rightPower = feedforward.compute(wheelVels.right) / voltage;
-            tankCommandWriter.write(new TankCommandMessage(voltage, leftPower, rightPower));
-
-            for (DcMotorEx m : leftMotors) {
-                m.setPower(leftPower);
-            }
-            for (DcMotorEx m : rightMotors) {
-                m.setPower(rightPower);
-            }
-
-            Canvas c = p.fieldOverlay();
-            drawPoseHistory(c);
-
-            c.setStroke("#4CAF50");
-            Drawing.drawRobot(c, txWorldTarget.value());
-
-            c.setStroke("#3F51B5");
-            Drawing.drawRobot(c, pose);
-
-            c.setStroke("#7C4DFFFF");
-            c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
-
-            return true;
-        }
-
-        @Override
-        public void preview(Canvas c) {
-            c.setStroke("#7C4DFF7A");
-            c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
-        }
-    }
-
-    public PoseVelocity2d updatePoseEstimate() {
-        Twist2dDual<Time> twist = localizer.update();
-        pose = pose.plus(twist.value());
-
-        poseHistory.add(pose);
-        while (poseHistory.size() > 100) {
-            poseHistory.removeFirst();
-        }
-
-        estimatedPoseWriter.write(new PoseMessage(pose));
-
-        return twist.velocity().value();
-    }
-
-    private void drawPoseHistory(Canvas c) {
-        double[] xPoints = new double[poseHistory.size()];
-        double[] yPoints = new double[poseHistory.size()];
-
-        int i = 0;
-        for (Pose2d t : poseHistory) {
-            xPoints[i] = t.position.x;
-            yPoints[i] = t.position.y;
-
-            i++;
-        }
-
-        c.setStrokeWidth(1);
-        c.setStroke("#3F51B5");
-        c.strokePolyline(xPoints, yPoints);
-    }
-
-    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
-        return new TrajectoryActionBuilder(
-                TurnAction::new,
-                FollowTrajectoryAction::new,
-                new TrajectoryBuilderParams(
-                        1e-6,
-                        new ProfileParams(
-                                0.25, 0.1, 1e-2
-                        )
-                ),
-                beginPose, 0.0,
-                defaultTurnConstraints,
-                defaultVelConstraint, defaultAccelConstraint
-        );
-    }
-}

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

@@ -1,100 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.roadrunner.DualNum;
-import com.acmerobotics.roadrunner.Time;
-import com.acmerobotics.roadrunner.Twist2dDual;
-import com.acmerobotics.roadrunner.Vector2d;
-import com.acmerobotics.roadrunner.Vector2dDual;
-import com.acmerobotics.roadrunner.ftc.Encoder;
-import com.acmerobotics.roadrunner.ftc.FlightRecorder;
-import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-import com.acmerobotics.roadrunner.ftc.RawEncoder;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-
-import org.firstinspires.ftc.teamcode.messages.ThreeDeadWheelInputsMessage;
-
-@Config
-public final class ThreeDeadWheelLocalizer implements Localizer {
-    public static class Params {
-        public double par0YTicks = 0.0; // y position of the first parallel encoder (in tick units)
-        public double par1YTicks = 1.0; // y position of the second parallel encoder (in tick units)
-        public double perpXTicks = 0.0; // x position of the perpendicular encoder (in tick units)
-    }
-
-    public static Params PARAMS = new Params();
-
-    public final Encoder par0, par1, perp;
-
-    public final double inPerTick;
-
-    private int lastPar0Pos, lastPar1Pos, lastPerpPos;
-    private boolean initialized;
-
-    public ThreeDeadWheelLocalizer(HardwareMap hardwareMap, double inPerTick) {
-        // TODO: make sure your config has **motors** with these names (or change them)
-        //   the encoders should be plugged into the slot matching the named motor
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        par0 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par0")));
-        par1 = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par1")));
-        perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp")));
-
-        // TODO: reverse encoder directions if needed
-        //   par0.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        this.inPerTick = inPerTick;
-
-        FlightRecorder.write("THREE_DEAD_WHEEL_PARAMS", PARAMS);
-    }
-
-    public Twist2dDual<Time> update() {
-        PositionVelocityPair par0PosVel = par0.getPositionAndVelocity();
-        PositionVelocityPair par1PosVel = par1.getPositionAndVelocity();
-        PositionVelocityPair perpPosVel = perp.getPositionAndVelocity();
-
-        FlightRecorder.write("THREE_DEAD_WHEEL_INPUTS", new ThreeDeadWheelInputsMessage(par0PosVel, par1PosVel, perpPosVel));
-
-        if (!initialized) {
-            initialized = true;
-
-            lastPar0Pos = par0PosVel.position;
-            lastPar1Pos = par1PosVel.position;
-            lastPerpPos = perpPosVel.position;
-
-            return new Twist2dDual<>(
-                    Vector2dDual.constant(new Vector2d(0.0, 0.0), 2),
-                    DualNum.constant(0.0, 2)
-            );
-        }
-
-        int par0PosDelta = par0PosVel.position - lastPar0Pos;
-        int par1PosDelta = par1PosVel.position - lastPar1Pos;
-        int perpPosDelta = perpPosVel.position - lastPerpPos;
-
-        Twist2dDual<Time> twist = new Twist2dDual<>(
-                new Vector2dDual<>(
-                        new DualNum<Time>(new double[] {
-                                (PARAMS.par0YTicks * par1PosDelta - PARAMS.par1YTicks * par0PosDelta) / (PARAMS.par0YTicks - PARAMS.par1YTicks),
-                                (PARAMS.par0YTicks * par1PosVel.velocity - PARAMS.par1YTicks * par0PosVel.velocity) / (PARAMS.par0YTicks - PARAMS.par1YTicks),
-                        }).times(inPerTick),
-                        new DualNum<Time>(new double[] {
-                                (PARAMS.perpXTicks / (PARAMS.par0YTicks - PARAMS.par1YTicks) * (par1PosDelta - par0PosDelta) + perpPosDelta),
-                                (PARAMS.perpXTicks / (PARAMS.par0YTicks - PARAMS.par1YTicks) * (par1PosVel.velocity - par0PosVel.velocity) + perpPosVel.velocity),
-                        }).times(inPerTick)
-                ),
-                new DualNum<>(new double[] {
-                        (par0PosDelta - par1PosDelta) / (PARAMS.par0YTicks - PARAMS.par1YTicks),
-                        (par0PosVel.velocity - par1PosVel.velocity) / (PARAMS.par0YTicks - PARAMS.par1YTicks),
-                })
-        );
-
-        lastPar0Pos = par0PosVel.position;
-        lastPar1Pos = par1PosVel.position;
-        lastPerpPos = perpPosVel.position;
-
-        return twist;
-    }
-}

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

@@ -1,121 +0,0 @@
-package org.firstinspires.ftc.teamcode;
-
-import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.roadrunner.DualNum;
-import com.acmerobotics.roadrunner.Rotation2d;
-import com.acmerobotics.roadrunner.Time;
-import com.acmerobotics.roadrunner.Twist2dDual;
-import com.acmerobotics.roadrunner.Vector2d;
-import com.acmerobotics.roadrunner.Vector2dDual;
-import com.acmerobotics.roadrunner.ftc.Encoder;
-import com.acmerobotics.roadrunner.ftc.FlightRecorder;
-import com.acmerobotics.roadrunner.ftc.OverflowEncoder;
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-import com.acmerobotics.roadrunner.ftc.RawEncoder;
-import com.qualcomm.robotcore.hardware.DcMotorEx;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
-import com.qualcomm.robotcore.hardware.HardwareMap;
-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.messages.TwoDeadWheelInputsMessage;
-
-@Config
-public final class TwoDeadWheelLocalizer implements Localizer {
-    public static class Params {
-        public double parYTicks = 0.0; // y position of the parallel encoder (in tick units)
-        public double perpXTicks = 0.0; // x position of the perpendicular encoder (in tick units)
-    }
-
-    public static Params PARAMS = new Params();
-
-    public final Encoder par, perp;
-    public final IMU imu;
-
-    private int lastParPos, lastPerpPos;
-    private Rotation2d lastHeading;
-
-    private final double inPerTick;
-
-    private double lastRawHeadingVel, headingVelOffset;
-    private boolean initialized;
-
-    public TwoDeadWheelLocalizer(HardwareMap hardwareMap, IMU imu, double inPerTick) {
-        // TODO: make sure your config has **motors** with these names (or change them)
-        //   the encoders should be plugged into the slot matching the named motor
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        par = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "par")));
-        perp = new OverflowEncoder(new RawEncoder(hardwareMap.get(DcMotorEx.class, "perp")));
-
-        // TODO: reverse encoder directions if needed
-        //   par.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        this.imu = imu;
-
-        this.inPerTick = inPerTick;
-
-        FlightRecorder.write("TWO_DEAD_WHEEL_PARAMS", PARAMS);
-    }
-
-    public Twist2dDual<Time> update() {
-        PositionVelocityPair parPosVel = par.getPositionAndVelocity();
-        PositionVelocityPair perpPosVel = perp.getPositionAndVelocity();
-
-        YawPitchRollAngles angles = imu.getRobotYawPitchRollAngles();
-        AngularVelocity angularVelocity = imu.getRobotAngularVelocity(AngleUnit.RADIANS);
-
-        FlightRecorder.write("TWO_DEAD_WHEEL_INPUTS", new TwoDeadWheelInputsMessage(parPosVel, perpPosVel, angles, angularVelocity));
-
-        Rotation2d heading = Rotation2d.exp(angles.getYaw(AngleUnit.RADIANS));
-
-        // see https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/617
-        double rawHeadingVel = angularVelocity.zRotationRate;
-        if (Math.abs(rawHeadingVel - lastRawHeadingVel) > Math.PI) {
-            headingVelOffset -= Math.signum(rawHeadingVel) * 2 * Math.PI;
-        }
-        lastRawHeadingVel = rawHeadingVel;
-        double headingVel = headingVelOffset + rawHeadingVel;
-
-        if (!initialized) {
-            initialized = true;
-
-            lastParPos = parPosVel.position;
-            lastPerpPos = perpPosVel.position;
-            lastHeading = heading;
-
-            return new Twist2dDual<>(
-                    Vector2dDual.constant(new Vector2d(0.0, 0.0), 2),
-                    DualNum.constant(0.0, 2)
-            );
-        }
-
-        int parPosDelta = parPosVel.position - lastParPos;
-        int perpPosDelta = perpPosVel.position - lastPerpPos;
-        double headingDelta = heading.minus(lastHeading);
-
-        Twist2dDual<Time> twist = new Twist2dDual<>(
-                new Vector2dDual<>(
-                        new DualNum<Time>(new double[] {
-                                parPosDelta - PARAMS.parYTicks * headingDelta,
-                                parPosVel.velocity - PARAMS.parYTicks * headingVel,
-                        }).times(inPerTick),
-                        new DualNum<Time>(new double[] {
-                                perpPosDelta - PARAMS.perpXTicks * headingDelta,
-                                perpPosVel.velocity - PARAMS.perpXTicks * headingVel,
-                        }).times(inPerTick)
-                ),
-                new DualNum<>(new double[] {
-                        headingDelta,
-                        headingVel,
-                })
-        );
-
-        lastParPos = parPosVel.position;
-        lastPerpPos = perpPosVel.position;
-        lastHeading = heading;
-
-        return twist;
-    }
-}

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

@@ -0,0 +1,7 @@
+# Useful Links
+
+## Pedro Pathing
+
+- 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/cometbots/AsherPathV1.java

@@ -0,0 +1,135 @@
+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 = "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/AutoExample.java

@@ -0,0 +1,79 @@
+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.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/AutoExampleFour.java

@@ -0,0 +1,106 @@
+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 = "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/AutoExampleSeason2025V1.java

@@ -0,0 +1,142 @@
+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.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/AutoExampleThree.java

@@ -0,0 +1,89 @@
+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 = "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/AutoExampleTwo.java

@@ -0,0 +1,80 @@
+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.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/BasicOmniOpMode_Linear.java

@@ -0,0 +1,197 @@
+/* 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;
+
+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/BlueBasketAuto.java

@@ -0,0 +1,161 @@
+package org.firstinspires.ftc.teamcode.cometbots;
+
+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 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 = "BlueBasketAuto", group = "Autonomous Pathing Tuning")
+public class BlueBasketAuto extends OpMode {
+    private Telemetry telemetryA;
+
+    private Follower follower;
+
+    private PathChain path;
+
+    private final Pose startPose = new Pose(11.25, 95.75);
+
+    /**
+     * 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 BezierLine(
+                                new Point(11.250, 95.750, Point.CARTESIAN),
+                                new Point(37.000, 108.000, Point.CARTESIAN)
+                        )
+                )
+                .setConstantHeadingInterpolation(Math.toRadians(0))
+                .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)
+                        )
+                )
+                .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)
+                        )
+                )
+                .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)
+                        )
+                )
+                .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)
+                        )
+                )
+                .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)
+                        )
+                )
+                .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)
+                        )
+                )
+                .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)
+                        )
+                )
+                .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)
+                        )
+                )
+                .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)
+                        )
+                )
+                .addPath(
+                        // Line 9
+                        new BezierLine(
+                                new Point(18.643, 135.000, Point.CARTESIAN),
+                                new Point(83.250, 95.464, Point.CARTESIAN)
+                        )
+                )
+                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270)).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/BluebAutoV1.java

@@ -0,0 +1,246 @@
+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.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/BluenbAutov1.java

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

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

@@ -0,0 +1,172 @@
+/* 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;
+
+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/tests/ArmTest.java

@@ -0,0 +1,95 @@
+/* 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.ArmSubsystem;
+
+@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
+         */
+        ArmSubsystem arm = new ArmSubsystem(hardwareMap, ArmSubsystem.ArmState.PARK);
+
+        /*
+         * 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.parkArm();
+            }
+
+            if (currentGamepad1.square && !previousGamepad1.square) {
+                arm.engageArm();
+            }
+
+            if (currentGamepad1.cross && !previousGamepad1.cross) {
+                arm.switchState();
+            }
+
+            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 +1,78 @@
+/* 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.ClawSubsystem;
+
+@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
+         */
+        ClawSubsystem claw = new ClawSubsystem(hardwareMap, ClawSubsystem.ClawState.OPEN);
+
+        /*
+         * Instantiate gamepad state holders
+         */
+        Gamepad currentGamepad1 = new Gamepad();
+        Gamepad previousGamepad1 = new Gamepad();
+
+        waitForStart();
+        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/LiftRawTest.java

@@ -0,0 +1,124 @@
+/* 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.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.Gamepad;
+import com.qualcomm.robotcore.util.ElapsedTime;
+
+@TeleOp(name = "Lift Raw Test", group = "Debug")
+public class LiftRawTest extends LinearOpMode {
+
+    // Declare OpMode members for each of the 4 motors.
+    private final ElapsedTime runtime = new ElapsedTime();
+
+    private final int MIN_POINT = 0;
+    private final int MAX_POINT = 3700;
+
+    @Override
+    public void runOpMode() {
+
+        /*
+         * Instantiate Lift
+         */
+        DcMotor liftDrive = hardwareMap.get(DcMotor.class, "lift-motor");
+        liftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        liftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        /*
+         * Instantiate gamepad state holders
+         */
+        Gamepad currentGamepad1 = new Gamepad();
+        Gamepad previousGamepad1 = new Gamepad();
+
+        waitForStart();
+        runtime.reset();
+
+
+        // run until the end of the match (driver presses STOP)
+        while (opModeIsActive()) {
+
+            previousGamepad1.copy(currentGamepad1);
+            currentGamepad1.copy(gamepad1);
+
+            liftDrive.setPower(.5);
+
+            // Max position is 6800, safely setting to 6500
+
+            if (currentGamepad1.square && !previousGamepad1.square) {
+                liftDrive.setTargetPosition(MIN_POINT);
+                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            }
+
+            if (currentGamepad1.triangle && !previousGamepad1.triangle) {
+                liftDrive.setTargetPosition(1500);
+                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            }
+
+            if (currentGamepad1.circle && !previousGamepad1.circle) {
+                liftDrive.setTargetPosition(2750);
+                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            }
+
+            if (currentGamepad1.cross && !previousGamepad1.cross) {
+                liftDrive.setTargetPosition(MAX_POINT);
+                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            }
+
+            if (currentGamepad1.left_bumper && !previousGamepad1.left_bumper) {
+                int newPosition = liftDrive.getCurrentPosition() - 125;
+                if (newPosition < MIN_POINT) {
+                    liftDrive.setTargetPosition(MIN_POINT);
+                } else {
+                    liftDrive.setTargetPosition(newPosition);
+                }
+                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            }
+
+            if (currentGamepad1.right_bumper && !previousGamepad1.right_bumper) {
+                int newPosition = liftDrive.getCurrentPosition() + 125;
+                if (newPosition > MAX_POINT) {
+                    liftDrive.setTargetPosition(MAX_POINT);
+                } else {
+                    liftDrive.setTargetPosition(newPosition);
+                }
+                liftDrive.setMode(DcMotor.RunMode.RUN_TO_POSITION);
+            }
+
+            // Show the elapsed game time and wheel power.
+            telemetry.addData("Status", "Run Time: " + runtime.toString());
+            telemetry.addData("Lift Drive Position", liftDrive.getCurrentPosition());
+            telemetry.update();
+        }
+    }
+}

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

@@ -0,0 +1,98 @@
+/* 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.LiftSubsystem;
+
+@TeleOp(name = "Lift Test", group = "Debug")
+public class LiftTest extends LinearOpMode {
+
+    // Declare OpMode members for each of the 4 motors.
+    private final ElapsedTime runtime = new ElapsedTime();
+
+    private final int MIN_POINT = 0;
+    // 2000 ~ 2500
+
+    // 3750 max
+    private final int MAX_POINT = 6500;
+
+    @Override
+    public void runOpMode() {
+
+        /*
+         * Instantiate Lift
+         */
+        LiftSubsystem lift = new LiftSubsystem(hardwareMap);
+
+        /*
+         * 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) {
+                lift.toFloor();
+            }
+
+            if (currentGamepad1.triangle && !previousGamepad1.triangle) {
+                lift.toHighBucket();
+            }
+
+            if (currentGamepad1.circle && !previousGamepad1.circle) {
+                lift.toLowBucket();
+            }
+
+            if (currentGamepad1.cross && !previousGamepad1.cross) {
+                lift.switchState();
+            }
+
+            // 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/WristTest.java

@@ -0,0 +1,96 @@
+/* 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.WristSubsystem;
+
+@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
+         */
+        WristSubsystem wrist = new WristSubsystem(hardwareMap, WristSubsystem.WristState.FLOOR);
+
+        /*
+         * 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) {
+                wrist.bucketWrist();
+            }
+
+            if (currentGamepad1.circle && !previousGamepad1.circle) {
+                wrist.floorWrist();
+            }
+
+            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 +1,22 @@
+package org.firstinspires.ftc.teamcode.configs;
+
+import com.acmerobotics.dashboard.config.Config;
+
+@Config
+public class RobotConstants {
+    public static double clawClose = 1.00;
+    public static double clawOpen = 0.05;
+
+    public static double armEngage = 0.5;
+    public static double armPark = 0.125;
+    public static double armBucket = 0.175;
+
+    public static double wristFloor = 0.625;
+    public static double wristBucket = 0.215;
+    public static int liftToFloorPos = 20;
+    public static int liftToFloatPos = 150;
+    public static int liftToLowBucketPos = 2250;
+    public static int liftToHighBucketPos = 3900;
+    public static double liftPower = .45;
+    public static int liftToHoverState = 60;
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/DriveCommandMessage.java

@@ -1,24 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-
-import com.acmerobotics.roadrunner.PoseVelocity2dDual;
-import com.acmerobotics.roadrunner.Time;
-
-public final class DriveCommandMessage {
-    public long timestamp;
-    public double forwardVelocity;
-    public double forwardAcceleration;
-    public double lateralVelocity;
-    public double lateralAcceleration;
-    public double angularVelocity;
-    public double angularAcceleration;
-
-    public DriveCommandMessage(PoseVelocity2dDual<Time> poseVelocity) {
-        this.timestamp = System.nanoTime();
-        this.forwardVelocity = poseVelocity.linearVel.x.get(0);
-        this.forwardAcceleration = poseVelocity.linearVel.x.get(1);
-        this.lateralVelocity = poseVelocity.linearVel.y.get(0);
-        this.lateralAcceleration = poseVelocity.linearVel.y.get(1);
-        this.angularVelocity = poseVelocity.angVel.get(0);
-        this.angularAcceleration = poseVelocity.angVel.get(1);
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumCommandMessage.java

@@ -1,19 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-
-public final class MecanumCommandMessage {
-    public long timestamp;
-    public double voltage;
-    public double leftFrontPower;
-    public double leftBackPower;
-    public double rightBackPower;
-    public double rightFrontPower;
-
-    public MecanumCommandMessage(double voltage, double leftFrontPower, double leftBackPower, double rightBackPower, double rightFrontPower) {
-        this.timestamp = System.nanoTime();
-        this.voltage = voltage;
-        this.leftFrontPower = leftFrontPower;
-        this.leftBackPower = leftBackPower;
-        this.rightBackPower = rightBackPower;
-        this.rightFrontPower = rightFrontPower;
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/MecanumLocalizerInputsMessage.java

@@ -1,30 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
-
-public final class MecanumLocalizerInputsMessage {
-    public long timestamp;
-    public PositionVelocityPair leftFront;
-    public PositionVelocityPair leftBack;
-    public PositionVelocityPair rightBack;
-    public PositionVelocityPair rightFront;
-    public double yaw;
-    public double pitch;
-    public double roll;
-
-    public MecanumLocalizerInputsMessage(PositionVelocityPair leftFront, PositionVelocityPair leftBack, PositionVelocityPair rightBack, PositionVelocityPair rightFront, YawPitchRollAngles angles) {
-        this.timestamp = System.nanoTime();
-        this.leftFront = leftFront;
-        this.leftBack = leftBack;
-        this.rightBack = rightBack;
-        this.rightFront = rightFront;
-        {
-            this.yaw = angles.getYaw(AngleUnit.RADIANS);
-            this.pitch = angles.getPitch(AngleUnit.RADIANS);
-            this.roll = angles.getRoll(AngleUnit.RADIANS);
-        }
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/PoseMessage.java

@@ -1,18 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-
-import com.acmerobotics.roadrunner.Pose2d;
-
-public final class PoseMessage {
-    public long timestamp;
-    public double x;
-    public double y;
-    public double heading;
-
-    public PoseMessage(Pose2d pose) {
-        this.timestamp = System.nanoTime();
-        this.x = pose.position.x;
-        this.y = pose.position.y;
-        this.heading = pose.heading.toDouble();
-    }
-}
-

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TankCommandMessage.java

@@ -1,15 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-
-public final class TankCommandMessage {
-    public long timestamp;
-    public double voltage;
-    public double leftPower;
-    public double rightPower;
-
-    public TankCommandMessage(double voltage, double leftPower, double rightPower) {
-        this.timestamp = System.nanoTime();
-        this.voltage = voltage;
-        this.leftPower = leftPower;
-        this.rightPower = rightPower;
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TankLocalizerInputsMessage.java

@@ -1,17 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-
-import java.util.List;
-
-public final class TankLocalizerInputsMessage {
-    public long timestamp;
-    public PositionVelocityPair[] left;
-    public PositionVelocityPair[] right;
-
-    public TankLocalizerInputsMessage(List<PositionVelocityPair> left, List<PositionVelocityPair> right) {
-        this.timestamp = System.nanoTime();
-        this.left = left.toArray(new PositionVelocityPair[0]);
-        this.right = right.toArray(new PositionVelocityPair[0]);
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/ThreeDeadWheelInputsMessage.java

@@ -1,17 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-
-public final class ThreeDeadWheelInputsMessage {
-    public long timestamp;
-    public PositionVelocityPair par0;
-    public PositionVelocityPair par1;
-    public PositionVelocityPair perp;
-
-    public ThreeDeadWheelInputsMessage(PositionVelocityPair par0, PositionVelocityPair par1, PositionVelocityPair perp) {
-        this.timestamp = System.nanoTime();
-        this.par0 = par0;
-        this.par1 = par1;
-        this.perp = perp;
-    }
-}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/messages/TwoDeadWheelInputsMessage.java

@@ -1,35 +0,0 @@
-package org.firstinspires.ftc.teamcode.messages;
-
-import com.acmerobotics.roadrunner.ftc.PositionVelocityPair;
-
-import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.robotcore.external.navigation.AngularVelocity;
-import org.firstinspires.ftc.robotcore.external.navigation.YawPitchRollAngles;
-
-public final class TwoDeadWheelInputsMessage {
-    public long timestamp;
-    public PositionVelocityPair par;
-    public PositionVelocityPair perp;
-    public double yaw;
-    public double pitch;
-    public double roll;
-    public double xRotationRate;
-    public double yRotationRate;
-    public double zRotationRate;
-
-    public TwoDeadWheelInputsMessage(PositionVelocityPair par, PositionVelocityPair perp, YawPitchRollAngles angles, AngularVelocity angularVelocity) {
-        this.timestamp = System.nanoTime();
-        this.par = par;
-        this.perp = perp;
-        {
-            this.yaw = angles.getYaw(AngleUnit.RADIANS);
-            this.pitch = angles.getPitch(AngleUnit.RADIANS);
-            this.roll = angles.getRoll(AngleUnit.RADIANS);
-        }
-        {
-            this.xRotationRate = angularVelocity.xRotationRate;
-            this.yRotationRate = angularVelocity.yRotationRate;
-            this.zRotationRate = angularVelocity.zRotationRate;
-        }
-    }
-}

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

@@ -0,0 +1,260 @@
+## Overview
+This is the localization system developed for the Pedro Pathing path follower. These localizers use
+the pose exponential method of localization. It's basically a way of turning movements from the
+robot's coordinate frame to the global coordinate frame. If you're interested in reading more about
+it, then check out pages 177 - 183 of [Controls Engineering in the FIRST Robotics Competition](https://file.tavsys.net/control/controls-engineering-in-frc.pdf)
+by Tyler Veness. However, the OTOS localizer uses its own onboard system for calculating localization,
+which I do not know about.
+
+## Setting Your Localizer
+Go to line `70` in the `PoseUpdater` class, and replace the `new ThreeWheelLocalizer(hardwareMap)`
+with the localizer that applies to you:
+* If you're using drive encoders, put `new DriveEncoderLocalizer(hardwareMap)`
+* If you're using two wheel odometry, put `new TwoWheelLocalizer(hardwareMap)`
+* If you're using three wheel odometry, put `new ThreeWheelLocalizer(hardwareMap)`, so basically
+  don't change it from the default
+* If you're using three wheel odometry with the IMU, put `new ThreeWheelIMULocalizer(hardwareMap)`
+* If you're using OTOS, put `new OTOSLocalizer(hardwareMap)`
+
+## Tuning
+To start, you'll want to select your localizer of choice. Below, I'll have instructions for the drive
+encoder localizer, two tracking wheel localizer, the three tracking wheel localizer, the three
+wheel with IMU localizer, and the OTOS localizer offered in Pedro Pathing. Scroll down to the section
+that applies to you and follow the directions there.
+
+# Drive Encoders
+* First, you'll need all of your drive motors to have encoders attached.
+* Then, go to `DriveEncoderLocalizer.java`. The motor names are already set, so you don't have to do
+  anything to change the encoder names there.
+* Then, reverse the direction of any encoders so that all encoders tick up when the robot is moving forward.
+* Now, you'll have to tune the multipliers. These convert your measurements from encoder ticks into 
+  inches or radians, essentially scaling your localizer so that your numbers are accurate to the real
+  world.
+* First, start with the `Turn Localizer Tuner`. You'll want to position your robot to be facing
+  in a direction you can easily find again, like lining up an edge of the robot against a field tile edge.
+  By default, you should spin the robot for one rotation going counterclockwise. Once you've spun
+  exactly that one rotation, or whatever you set that value to, then the turn multiplier will be shown
+  as the second number shown. The first number is how far the robot thinks you've spun, and the second
+  number is the multiplier you need to have to scale your current readings to your goal of one rotation,
+  or the custom set angle. Feel free to run a few more tests and average the results. Once you have
+  this multiplier, then replace `TURN_TICKS_TO_RADIANS` in the localizer with your multiplier. Make sure
+  you replace the number, not add on or multiply it to the previous number. The tuner takes into
+  account your current multiplier.
+* Next, go on to `Forward Localizer Tuner`. You'll want to position a ruler alongside your robot.
+  By default, you'll want to push the robot 30 inches forward. Once you've pushed that far, or whatever
+  you set that value to, then the forward multiplier will be shown as the second number shown. The
+  first number is how far the robot thinks you've gone, and the second number is the multiplier you
+  need to have to scale your current readings to your goal of 30 inches, or the custom set distance.
+  Feel free to run a few more tests and average the results. Once you have this multiplier, then
+  replace `FORWARD_TICKS_TO_INCHES` in the localizer with your multiplier. Make sure you replace the number,
+  not add on or multiply it to the previous number. The tuner takes into account your current multiplier.
+* Finally, go to `Lateral Localizer Tuner`. You'll want to position a ruler alongside your robot.
+  By default, you'll want to push the robot 30 inches to the right. Once you've pushed that far, or whatever
+  you set that value to, then the lateral multiplier will be shown as the second number shown. The
+  first number is how far the robot thinks you've gone, and the second number is the multiplier you
+  need to have to scale your current readings to your goal of 30 inches, or the custom set distance.
+  Feel free to run a few more tests and average the results. Once you have this multiplier, then
+  replace `STRAFE_TICKS_TO_INCHES` in the localizer with your multiplier. Make sure you replace the number,
+  not add on or multiply it to the previous number. The tuner takes into account your current multiplier.
+* Once you're done with all this, your localizer should be tuned. To test it out, you can go to
+ `Localization Test` and push around or drive around your robot. Go to [FTC Dashboard](http://192.168.43.1:8080/dash)
+ and on the top right, switch the drop down from the default view to the field view. Then, on the bottom
+ left corner, you should see a field and the robot being drawn on the field. You can then move your
+ robot around and see if the movements look accurate on FTC Dashboard. If they don't, then you'll
+ want to re-run some of the previous steps. Otherwise, congrats on tuning your localizer!
+
+# Two Wheel Localizer
+* First, you'll need a Control Hub with a working IMU, and two odometry wheels connected to motor
+  encoder ports on a hub.
+* Then, go to `TwoWheelLocalizer.java`. First, in the constructor, enter in the positions of your
+ tracking wheels relative to the center of the wheels of the robot. The positions are in inches, so
+ convert measurements accordingly. Use the comment above the class declaration to help you with the
+ coordinates.
+* Next, go to where it tells you to replace the current statements with your encoder ports in the constructor.
+  Replace the `deviceName` parameter with the name of the port that the encoder is connected to. The
+ variable names correspond to which tracking wheel should be connected.
+* After that, go to the instantiation of the IMU and change the orientation of the IMU to match that
+  of your robot's.
+* Then, reverse the direction of any encoders so that the forward encoder ticks up when the robot
+ is moving forward and the strafe encoder ticks up when the robot moves right.
+* Now, you'll have to tune the multipliers. These convert your measurements from encoder ticks into
+  inches or radians, essentially scaling your localizer so that your numbers are accurate to the real
+  world.
+* You actually won't need the turning tuner for this one, since the IMU in the Control Hub will take
+ care of the heading readings.
+* First, start with the `Forward Localizer Tuner`. You'll want to position a ruler alongside your robot.
+  By default, you'll want to push the robot 30 inches forward. Once you've pushed that far, or whatever
+  you set that value to, then the forward multiplier will be shown as the second number shown. The
+  first number is how far the robot thinks you've gone, and the second number is the multiplier you
+  need to have to scale your current readings to your goal of 30 inches, or the custom set distance.
+  Feel free to run a few more tests and average the results. Once you have this multiplier, then
+  replace `FORWARD_TICKS_TO_INCHES` in the localizer with your multiplier. Make sure you replace the number,
+  not add on or multiply it to the previous number. The tuner takes into account your current multiplier.
+* Finally, go to `Lateral Localizer Tuner`. You'll want to position a ruler alongside your robot.
+  By default, you'll want to push the robot 30 inches to the right. Once you've pushed that far, or whatever
+  you set that value to, then the lateral multiplier will be shown as the second number shown. The
+  first number is how far the robot thinks you've gone, and the second number is the multiplier you
+  need to have to scale your current readings to your goal of 30 inches, or the custom set distance.
+  Feel free to run a few more tests and average the results. Once you have this multiplier, then
+  replace `STRAFE_TICKS_TO_INCHES` in the localizer with your multiplier. Make sure you replace the number,
+  not add on or multiply it to the previous number. The tuner takes into account your current multiplier.
+* Once you're done with all this, your localizer should be tuned. To test it out, you can go to
+ `Localization Test` and push around or drive around your robot. Go to [FTC Dashboard](http://192.168.43.1:8080/dash)
+ and on the top right, switch the drop down from the default view to the field view. Then, on the bottom
+ left corner, you should see a field and the robot being drawn on the field. You can then move your
+ robot around and see if the movements look accurate on FTC Dashboard. If they don't, then you'll
+ want to re-run some of the previous steps. Otherwise, congrats on tuning your localizer!
+
+# Three Wheel Localizer
+* First, you'll need three odometry wheels connected to motor encoder ports on a hub.
+* Then, go to `ThreeWheelLocalizer.java`. First, in the constructor, enter in the positions of your
+  tracking wheels relative to the center of the wheels of the robot. The positions are in inches, so
+  convert measurements accordingly. Use the comment above the class declaration to help you with the
+  coordinates.
+* Next, go to where it tells you to replace the current statements with your encoder ports in the constructor.
+  Replace the `deviceName` parameter with the name of the port that the encoder is connected to. The
+  variable names correspond to which tracking wheel should be connected.
+* Then, reverse the direction of any encoders so that the forward encoders tick up when the robot
+  is moving forward and the strafe encoder ticks up when the robot moves right.
+* First, start with the `Turn Localizer Tuner`. You'll want to position your robot to be facing
+  in a direction you can easily find again, like lining up an edge of the robot against a field tile edge.
+  By default, you should spin the robot for one rotation going counterclockwise. Once you've spun
+  exactly that one rotation, or whatever you set that value to, then the turn multiplier will be shown
+  as the second number shown. The first number is how far the robot thinks you've spun, and the second
+  number is the multiplier you need to have to scale your current readings to your goal of one rotation,
+  or the custom set angle. Feel free to run a few more tests and average the results. Once you have
+  this multiplier, then replace `TURN_TICKS_TO_RADIANS` in the localizer with your multiplier. Make sure
+  you replace the number, not add on or multiply it to the previous number. The tuner takes into
+  account your current multiplier.
+* Next, go on to `Forward Localizer Tuner`. You'll want to position a ruler alongside your robot.
+  By default, you'll want to push the robot 30 inches forward. Once you've pushed that far, or whatever
+  you set that value to, then the forward multiplier will be shown as the second number shown. The
+  first number is how far the robot thinks you've gone, and the second number is the multiplier you
+  need to have to scale your current readings to your goal of 30 inches, or the custom set distance.
+  Feel free to run a few more tests and average the results. Once you have this multiplier, then
+  replace `FORWARD_TICKS_TO_INCHES` in the localizer with your multiplier. Make sure you replace the number,
+  not add on or multiply it to the previous number. The tuner takes into account your current multiplier.
+* Finally, go to `Lateral Localizer Tuner`. You'll want to position a ruler alongside your robot.
+  By default, you'll want to push the robot 30 inches to the right. Once you've pushed that far, or whatever
+  you set that value to, then the lateral multiplier will be shown as the second number shown. The
+  first number is how far the robot thinks you've gone, and the second number is the multiplier you
+  need to have to scale your current readings to your goal of 30 inches, or the custom set distance.
+  Feel free to run a few more tests and average the results. Once you have this multiplier, then
+  replace `STRAFE_TICKS_TO_INCHES` in the localizer with your multiplier. Make sure you replace the number,
+  not add on or multiply it to the previous number. The tuner takes into account your current multiplier.
+* Once you're done with all this, your localizer should be tuned. To test it out, you can go to
+  `Localization Test` and push around or drive around your robot. Go to [FTC Dashboard](http://192.168.43.1:8080/dash)
+  and on the top right, switch the drop down from the default view to the field view. Then, on the bottom
+  left corner, you should see a field and the robot being drawn on the field. You can then move your
+  robot around and see if the movements look accurate on FTC Dashboard. If they don't, then you'll
+  want to re-run some of the previous steps. Otherwise, congrats on tuning your localizer!
+
+# Three Wheel Localizer with IMU
+* First, you'll need three odometry wheels connected to motor encoder ports on a hub.
+* Then, go to `ThreeWheelIMULocalizer.java`. First, in the constructor, enter in the positions of your
+  tracking wheels relative to the center of the wheels of the robot. The positions are in inches, so
+  convert measurements accordingly. Use the comment above the class declaration to help you with the
+  coordinates.
+* Next, go to where it tells you to replace the current statements with your encoder ports in the constructor.
+  Replace the `deviceName` parameter with the name of the port that the encoder is connected to. The
+  variable names correspond to which tracking wheel should be connected.
+* After that, go to the instantiation of the IMU and change the orientation of the IMU to match that
+  of your robot's.
+* Then, reverse the direction of any encoders so that the forward encoders tick up when the robot
+  is moving forward and the strafe encoder ticks up when the robot moves right.
+* Although heading localization is done mostly through the IMU, the tracking wheels are still used for
+  small angle adjustments for better stability. So, you will still need to tune your turning multiplier.
+* First, start with the `Turn Localizer Tuner`. Before doing any tuning, go to FTC Dashboard and find
+  the `ThreeWheelIMULocalizer` dropdown and deselect `useIMU`. You'll want to position your robot to be facing
+  in a direction you can easily find again, like lining up an edge of the robot against a field tile edge.
+  By default, you should spin the robot for one rotation going counterclockwise. Once you've spun
+  exactly that one rotation, or whatever you set that value to, then the turn multiplier will be shown
+  as the second number shown. The first number is how far the robot thinks you've spun, and the second
+  number is the multiplier you need to have to scale your current readings to your goal of one rotation,
+  or the custom set angle. Feel free to run a few more tests and average the results. Once you have
+  this multiplier, then replace `TURN_TICKS_TO_RADIANS` in the localizer with your multiplier. Make sure
+  you replace the number, not add on or multiply it to the previous number. The tuner takes into
+  account your current multiplier.
+* Next, go on to `Forward Localizer Tuner`. You should re-enable `useIMU` at this time. You'll want to position a ruler alongside your robot.
+  By default, you'll want to push the robot 30 inches forward. Once you've pushed that far, or whatever
+  you set that value to, then the forward multiplier will be shown as the second number shown. The
+  first number is how far the robot thinks you've gone, and the second number is the multiplier you
+  need to have to scale your current readings to your goal of 30 inches, or the custom set distance.
+  Feel free to run a few more tests and average the results. Once you have this multiplier, then
+  replace `FORWARD_TICKS_TO_INCHES` in the localizer with your multiplier. Make sure you replace the number,
+  not add on or multiply it to the previous number. The tuner takes into account your current multiplier.
+* Finally, go to `Lateral Localizer Tuner`. `useIMU` should be enabled for this step. You'll want to position a ruler alongside your robot.
+  By default, you'll want to push the robot 30 inches to the right. Once you've pushed that far, or whatever
+  you set that value to, then the lateral multiplier will be shown as the second number shown. The
+  first number is how far the robot thinks you've gone, and the second number is the multiplier you
+  need to have to scale your current readings to your goal of 30 inches, or the custom set distance.
+  Feel free to run a few more tests and average the results. Once you have this multiplier, then
+  replace `STRAFE_TICKS_TO_INCHES` in the localizer with your multiplier. Make sure you replace the number,
+  not add on or multiply it to the previous number. The tuner takes into account your current multiplier.
+* Once you're done with all this, your localizer should be tuned. Make sure that `useIMU` is turned back on. To test it out, you can go to
+  `Localization Test` and push around or drive around your robot. Go to [FTC Dashboard](http://192.168.43.1:8080/dash)
+  and on the top right, switch the drop down from the default view to the field view. Then, on the bottom
+  left corner, you should see a field and the robot being drawn on the field. You can then move your
+  robot around and see if the movements look accurate on FTC Dashboard. If they don't, then you'll
+  want to re-run some of the previous steps. Otherwise, congrats on tuning your localizer!
+
+# OTOS Localizer
+* First, you'll need the OTOS connected to an I2C port on a hub. Make sure the film on the sensor is removed.
+* Then, go to `OTOSLocalizer.java`. First, in the constructor, go to where it tells you to replace 
+  the current statement with your OTOS port in the constructor. Replace the `deviceName` parameter
+  with the name of the port that the OTOS is connected to.
+* Next, enter in the position of your OTOS relative to the center of the wheels of the robot. The
+  positions are in inches, so convert measurements accordingly. Use the comment above the class
+  declaration as well as to help you with the coordinates.
+* First, start with the `Turn Localizer Tuner`. You'll want to position your robot to be facing
+  in a direction you can easily find again, like lining up an edge of the robot against a field tile edge.
+  By default, you should spin the robot for one rotation going counterclockwise. Once you've spun
+  exactly that one rotation, or whatever you set that value to, then the angular scalar will be shown
+  as the second number shown. The first number is how far the robot thinks you've spun, and the second
+  number is the scalar you need to have to scale your current readings to your goal of one rotation,
+  or the custom set angle. Feel free to run a few more tests and average the results. Once you have
+  this scalar, then replace the angular scalar on line `78` in the localizer with your scalar.
+  Make sure you replace the number, not add on or multiply it to the previous number. The tuner takes into
+  account your current angular scalar.
+* For this next step, since OTOS only has one linear scalar, you can run either the forward or lateral
+  localizer tuner and the result should be the same. So, you choose which one you want to run.
+* Option 1: go on to `Forward Localizer Tuner`. You'll want to position a ruler alongside your robot.
+  By default, you'll want to push the robot 30 inches forward. Once you've pushed that far, or whatever
+  you set that value to, then the linear scalar will be shown as the second number shown. The
+  first number is how far the robot thinks you've gone, and the second number is the scalar you
+  need to have to scale your current readings to your goal of 30 inches, or the custom set distance.
+  Feel free to run a few more tests and average the results. Once you have this scalar, then
+  replace the linear scalar on line `77` in the localizer with your scalar. Make sure you replace the number,
+  not add on or multiply it to the previous number. The tuner takes into account your current scalar.
+* Option 2: go to `Lateral Localizer Tuner`. You'll want to position a ruler alongside your robot.
+  By default, you'll want to push the robot 30 inches to the right. Once you've pushed that far, or whatever
+  you set that value to, then the linear scalar will be shown as the second number shown. The
+  first number is how far the robot thinks you've gone, and the second number is the scalar you
+  need to have to scale your current readings to your goal of 30 inches, or the custom set distance.
+  Feel free to run a few more tests and average the results. Once you have this scalar, then
+  replace the linear scalar on line `77` in the localizer with your scalar. Make sure you replace the number,
+  not add on or multiply it to the previous number. The tuner takes into account your current scalar.
+* Once you're done with all this, your localizer should be tuned. To test it out, you can go to
+  `Localization Test` and push around or drive around your robot. Go to [FTC Dashboard](http://192.168.43.1:8080/dash)
+  and on the top right, switch the drop down from the default view to the field view. Then, on the bottom
+  left corner, you should see a field and the robot being drawn on the field. You can then move your
+  robot around and see if the movements look accurate on FTC Dashboard. If they don't, then you'll
+  want to re-run some of the previous steps. Otherwise, congrats on tuning your localizer!
+
+## Using Road Runner's Localizer
+Of course, many teams have experience using Road Runner in the past and so have localizers from Road
+Runner that are tuned. There is an adapter for the Road Runner three wheel localizer to the Pedro
+Pathing localization system in Pedro Pathing, but it is commented out by default to reduce the number
+of imports in gradle.
+
+To re-enable it, go to `RoadRunnerEncoder.java`, `RoadRunnerThreeWheelLocalizer.java`, and `RRToPedroThreeWheelLocalizer.java` 
+and hit `ctrl` + `a` to select everything within the files. Then, press `ctrl` + `/` to uncomment the code.
+
+Afterwards, go to `build.gradle` file under the `teamcode` folder and add the following dependencies:
+```
+implementation 'org.apache.commons:commons-math3:3.6.1'
+implementation 'com.acmerobotics.com.roadrunner:core:0.5.6'
+```
+
+After that, you should be good to go. If you want to use a different localizer from Road Runner, then
+you can adapt it in the same process that's used for the Road Runner three wheel localizer.

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

@@ -0,0 +1,108 @@
+## Basic Ideas
+Pedro Pathing is a reactive vector based follower. What this means is that the robot dynamically
+calculates a set of vectors that are required to correct error as well as to move forward and applies them.
+
+The robot calculates:
+
+* centripetal force correction
+* translational correction
+* heading correction
+* drive vector
+
+These are then applied to the robot in this order until either the robot's power is maxed out or all
+the vectors are applied.
+
+## Why Pedro Pathing?
+Why use Pedro Pathing? Why not something else like Road Runner or Pure Pursuit?
+
+* Why not Pure Pursuit?
+  * Pure Pursuit searches for the farthest point on the path that's within a certain radius from the robot. Pure Pursuit will then go in a straight line to that point. This poses several problems, as a small search radius will cause some oscillations on corners, and a large search radius will cut corners on paths, which makes the paths inaccurate to real life.
+  * Pedro Pathing instead corrects to the closest point on the path while still following the path. This ensures that the follower will stay on the path while still being able to move forward along the path without cutting corners or encountering oscillation issues.
+* Why not Road Runner?
+  * Road Runner is a motion profile based follower, which means that a set of instructions for motor powers are calculated for each path beforehand and then run. After reaching the end of this motion profile, Road Runner corrects. This can be sufficient for most situations, but if the robot encounters an obstacle or wheel slippage, it may be unable to correct in time.
+  * Pedro Pathing instead dynamically corrects throughout the path. The movement vectors are calculated at every point along the path, and because of this, the path can even be changed midway through and Pedro Pathing will still be able to correct. Since correction occurs throughout the path, the error correction isn't concentrated on the end of the path and therefore the robot is able to better minimize error.
+
+## How Does Pedro Path?
+As mentioned in the *Basic Ideas* section, Pedro Pathing calculates a set of vectors to move the
+robot along a path, which is defined with Bezier curves. Here, we'll go more in-depth on how these
+vectors are calculated and used in path following.
+
+### The Hierarchy
+While following paths, sometimes all these motion vectors are demanding more power from the robot
+than it actually has. How do we deal with this?
+
+Our motion vectors are applied in order of importance, which is the order they appear in within the
+list in *Basic Ideas*. The centripetal force vector is the highest importance, since it ensures the
+robot sticks to the path. If the robot is far off the path, then the robot will not drive along the
+path, and so the centripetal force vector will be reduced in magnitude. This is why ranking the
+centripetal force correction above the translational correction doesn't produce issues. The next
+highest, of course, is the translational correction. This corrects strictly the robot's position to
+the closest point on the path. The reasoning behind this is that it is usually much more important
+that the robot be on the path, and so avoid potential obstacles, rather than facing the correct
+direction. The third highest important vector is the heading correction, which turns the robot to
+the correct angle. This is higher than the drive vector since we don't want to drive forward if the
+robot isn't facing the correct direction. Finally, the drive vector is applied. This ensures that
+the robot only continues on the path when there aren't any major issues with the following.
+
+As each vector is applied, the robot checks to see if the sum of the applied vectors is greater than
+the power that the drivetrain can produce, which would be 1 motor power. If the magnitude of the
+combined vectors is greater than 1, then the most recently added vector is scaled down until the
+combined vectors' magnitude is equal to 1. If all vectors are able to be applied without exceeding
+the power limit, then all the vectors can just be applied without issue.
+
+### Centripetal Force Correction
+Have you ever noticed that your robot seems to want to swing outwards when taking corners? This is
+due to a lack of centripetal force correction. In order to take curves effectively, your robot must
+accelerate towards the inside of the curve. If we can approximate the region of the path the robot
+is at with a circle, then we can use the formula for centripetal force to calculate how much power
+we need to allocate to approximate a centripetal force. 
+
+Because paths are defined with Bezier curves, we can easily take the first and second derivative of
+the path, expressed as vectors. We can use that to calculate the curvature of the path, which is the
+inverse of the length of the radius of the circle we can use to approximate the path. The actual
+formula for the calculations of the curvature is the cross product of the first derivative and
+second derivative, divided by the magnitude of the first derivative raised to the power of 3.
+
+With this, along with the weight of the robot and the velocity of the robot along the path, we can
+calculate the force necessary to keep the robot on the path, and then tune a scaling factor to turn
+that force into a corresponding power for the robot.
+
+### Translational Correction
+This is as simple as it sounds: this corrects error in the robot's position only. The robot's translational
+error is corrected with a PID control. The translational correction does not act along the path the
+robot takes, but instead moves the robot back to the closest point on the path.
+
+### Heading Correction
+The heading correction operates very similarly to the translational correction, except this corrects
+the direction the robot is facing. The heading correction will turn in the closest direction from the
+robot's current heading to the target heading.
+
+### Drive Vector
+The drive vector points in the direction of the tangent of the path and it is responsible for moving
+the robot along the path. Using basic kinematics equations, we can use the velocity of the robot
+along the path, the length of path left, and a specified target rate of deceleration to calculate
+the velocity we should be moving at. Additionally, after finding out the rate of deceleration of the
+robot under 0 power, we can compensate for that with another kinematics equation. Combining these
+two lets us control our velocity to both move along the path quickly and brake without overshooting.
+
+## Additional Capabilities
+In addition to following paths, Pedro Pathing can be used for a few other purposes.
+
+### Holding Points
+Pedro Pathing is also capable of holding a specified position and direction. This can be useful for
+improving on the end accuracy of paths, providing additional correction time if possible. It can
+also be useful in cases where contact with other robots might occur. For instance, in the 2022-2023
+FTC season challenge, Power Play, robots might come into contact when scoring on a contested middle
+junction. Pedro Pathing would be able to recover and correct from a robot collision, allowing for
+more consistent scoring.
+
+### TeleOp Enhancements
+Finally, Pedro Pathing can be used in TeleOp to enhance driving. With regular mecanum drive, robots
+will tend to swing out when taking corners. Pedro Pathing can account for that, allowing the robot
+to take corners more smoothly and efficiently. Using the same localizer as is used in autonomous, a
+first and second derivative can be estimated from previous positions. Then, with a modified version
+of the curvature formula, we can estimate a centripetal force correction and apply it under driver
+control.
+
+## Questions?
+If you still have more questions, feel free to contact us at `scottsbots10158@gmail.com`

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

@@ -0,0 +1,28 @@
+## Welcome!
+This is the Pedro Pathing path following program developed by FTC team 10158 Scott's Bots with Logan
+Nash in the 2023-2024 Centerstage season.
+
+## Installation
+The quickest way to get started is with the quickstart [here](https://github.com/AnyiLin/Pedro-Pathing-Quickstart).
+
+Otherwise, take the `pedroPathing` folder and put it under the `teamcode` folder in your project.
+You can do this from either downloading the project from the above quickstart link or the 10158
+CENTERSTAGE repository [here](https://github.com/AnyiLin/10158-Centerstage).
+
+For this version of Pedro Pathing, the localizer used is the Road Runner localizer. To install its
+dependencies:
+1. Find `build.dependencies.gradle` in the main folder of your project.
+2. Add the following code to the end of the `repositories` block:
+```
+maven { url = 'https://maven.brott.dev/' }
+```
+3. Then, add the following code to the end of your `dependencies` block:
+```
+implementation 'com.acmerobotics.dashboard:dashboard:0.4.5'
+``` 
+4. Find the `build.gradle` file under the `teamcode` folder.
+5. In this gradle file, add the following dependency:
+```
+implementation 'com.fasterxml.jackson.core:jackson-databind:2.12.7'
+implementation 'org.jetbrains.kotlin:kotlin-stdlib:1.4.21'
+```

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

@@ -0,0 +1,121 @@
+## Prerequisites
+Obviously, you have to have a robot to use Pedro Pathing. Also, Pedro Pathing is only able to work
+with omnidirectional drives, like mecanum drive. There is currently no support for swerve drives.
+You must also have a localizer of some sort. Pedro Pathing has a drive encoder, a two tracking wheel,
+and a three tracking wheel localizer. You will need to have your localizer tuned before starting to
+tune PedroPathing. Check out the tuning guide under the localization tab if you're planning on using one of the
+localizers available in Pedro Pathing. Additionally, using [FTC Dashboard](http://192.168.43.1:8080/dash)
+will help a lot in tuning. Team 16166 Watt'S Up made a path visualizer linked [here](https://pedro-path-generator.vercel.app).
+The old Desmos visualizer is [here](https://www.desmos.com/calculator/3so1zx0hcd), but the one by
+Watt'S Up is honestly a lot better.
+One last thing to note is that Pedro Pathing operates in inches and radians. You can use centimeters
+instead of inches, but you'll have to input all your measurement in centimeters, and any distances
+that the tuners require you to push the robot or the tuners output will say "inches" when the actual
+measurements will be in centimeters.
+
+## Tuning
+* To start with, we need the mass of the robot in kg. This is used for the centripetal force correction,
+  and the mass, with the variable name `mass`, should be put on line `86` in the `FollowerConstants`
+  class under the `tuning` package.
+
+* Next, we need to find the preferred mecanum drive vectors. The rollers on mecanum wheels point at a
+  45 degree angle from the forward direction, but the actual direction the force is output is actually
+  closer to forward. To find the direction your wheels will go, you will need to run the
+  `Forward Velocity Tuner` and `Strafe Velocity Tuner` OpModes. These will run your robot at full
+  power for 40 inches forward and to the right, respectively. The distance can be changed through FTC
+  Dashboard under the dropdown for each respective class, but higher distances work better. After the
+  distance has finished running, the end velocity will be output to telemetry. The robot may continue
+  to drift a little bit after the robot has finished running the distance, so make sure you have
+  plenty of room. Once you're done, put the velocity for the `Forward Velocity Tuner` on line `33` in
+  the `FollowerConstants` class, and the velocity for the `Strafe Velocity Tuner` on line `34` in the
+  `FollowerConstants` class. The variable names should be `xMovement` and `yMovement`, respectively.
+
+* The last set of automatic tuners you'll need to run are the zero power acceleration tuners. These
+  find the rate at which your robot decelerates when power is cut from the drivetrain. This is used to
+  get a more accurate estimation of the drive vector. To find this, you will need to run the
+  `Forward Zero Power Acceleration Tuner` and the `Lateral Zero Power Acceleration Tuner` OpModes.
+  These will run your robot until it hits a velocity of 10 inches/second forward and to the right,
+  respectively. The velocity can be changed through FTC Dashboard under the dropdown for each
+  respective class, but higher velocities work better. After the velocity has been reached, power will
+  be cut from the drivetrain and the robot's deceleration will be tracked until the robot stops, at
+  which point it will display the deceleration in telemetry. This robot will need to drift to a stop
+  to properly work, and the higher the velocity the greater the drift distance, so make sure you have
+  enough room. Once you're done, put the zero power acceleration for the
+  `Forward Zero Power Acceleration Tuner` on line `94` in the `FollowerConstants` class and the zero
+  power acceleration for the `Lateral Zero Power Acceleration Tuner` on line `98` in the
+  `FollowerConstants` class. The variable names should be `forwardZeroPowerAcceleration` and
+  `lateralZeroPowerAcceleration`, respectively.
+
+* After this, we will want to tune the translational PID. Go to FTC Dashboard and disable all but
+  the `useTranslational` checkboxes under the `Follower` tab. Then, run `StraightBackAndForth`. Make
+  sure you disable the timer on autonomous OpModes. The PID for the translational error is called
+  `translationalPIDF`.  If you need to add a feedforward value, use the `translationalPIDFFeedForward`
+  since that will add the feedforward in the direction the robot is trying to move, rather than the
+  feedforward in the PIDF itself, since those will only add the feedforward one way. You can change
+  the PIDF constants and feedforward values, under the `FollowerConstants` tab in FTC Dashboard.
+  To tune the PID, push the robot off the path and see how corrects. You will want to alternate sides
+  you push to reduce field wear and tear as well as push with varying power and distance. I would 
+  recommend tuning the PID so that it is capable of correcting while minimizing oscillations and still
+  achieving a satisfactory level of accuracy. Overall, try to tune for fewer oscillations rather than
+  higher speeds or perfect accuracy, since this will make the robot run more smoothly under actual
+  pathing conditions.
+
+* Next, we will tune the heading PID. The process is essentially the same as above, except you will
+  want to only enable `useHeading` under `Follower` on FTC Dashboard, as well as turn the robot from
+  opposing corners instead of pushing the robot. Naturally, instead of changing the stuff with
+  "translational" in the name, you will instead want to look for stuff with "heading" in the name.
+  Otherwise, these two PIDs are functionally very similar. The same tips from above will apply to this.
+
+* Afterwards, we will tune the drive PID. Before we continue, we will need to set the
+  `zeroPowerAccelerationMultiplier`. This determines how fast your robot will decelerate as a factor
+  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,
+  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`
+  and don't forget to turn off the timer on the OpMode. Then, tune the PID following the tips from
+  earlier. For this, it is very important to try to reduce oscillations. Additionally, I would
+  absolutely not recommend using the I, or integral, part of the PID for this. Using integral in
+  drivetrain PIDs is already not ideal, but it will continuously build up error in this PID, causing
+  major issues when it gets too strong. Don't use I; P and D are enough. In the versions of Pedro Pathing
+  from after late July 2024, there is a Kalman filter on the drive error and the drive PID has a
+  filter as well. These smooth out the drive error and PID response so that there is not as much
+  oscillation during the braking portion of each path. The Kalman filter is tuned to have 6 for the
+  model covariance and 1 for the data covariance. These values should work, but if you feel inclined
+  to tune the Kalman filter yourself, a higher ratio of model covariance to data covariance means that
+  the filter will rely more on its previous output rather than the data, and the opposite ratio will
+  mean that the filter will rely more so on the data input (the raw drive error) rather than the model.
+  The filtered PID functions like a normal PID, except the derivative term is a weighted average of the
+  current derivative and the previous derivative. Currently, the weighting, or time constant for the
+  drive filtered PID is 0.6, so the derivative output is 0.6 times the previous derivative plus 0.4
+  times the current derivative. Feel free to mess around with these values and find what works best
+  for your robot!
+
+* Finally, we will want to tune the centripetal force correction. This is a pretty simple tune. Open
+  up FTC Dashboard and enable everything under the `Follower` tab. Then, run `CurvedBackAndForth`
+  and turn off its timer. If you notice the robot is correcting towards the inside of the curve
+  as/after running a path, then increase `centripetalScaling`, which can be found on line `89` of
+  `FollowerConstants`. If the robot is correcting towards the outside of the curve, then decrease
+  `centripetalScaling`.
+
+* Once you've found satisfactory tunings for everything, run the robot around in
+  `StraightBackAndForth`, `CurvedBackAndForth`, or some paths of your own making. There's also
+  `Circle`, but that's more so for fun than anything else. If you notice something could be improved,
+  feel free to mess around more with your PIDs. That should be all! If you have any more questions,
+  refer to the OVERVIEW readme file or the README readme file. Best of luck to your team this season! :)
+
+## Note About the PIDs
+In versions of Pedro Pathing before early August 2024, there were 2 PIDs used in the translational,
+heading, and drive control. However, now there is only one main PID. The old system can still be used.
+Scroll down to the bottom of `FollowerConstants` and set all the booleans from lines `157` to `159`
+to true. They should be named `useSecondaryTranslationalPID`, `useSecondaryHeadingPID`, and `useSecondaryDrivePID`.
+This will enable the two PID system that Pedro Pathing originally used. From there, scroll
+down and all the values pertaining to the secondary PIDs will be there. The two PID system works with
+a PID that handles larger errors (the main PID) and a second PID to handle smaller errors (the
+secondary PID). The main PID should be tuned to move the error within the secondary PID's range
+without providing too much momentum that could cause an overshoot. The secondary PID should be tuned
+to correct within its range quickly and accurately while minimizing oscillations.

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/pedroPathing/examples/TeleOpEnhancements.java

@@ -0,0 +1,62 @@
+package org.firstinspires.ftc.teamcode.pedroPathing.examples;
+
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorName;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorName;
+
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+
+import org.firstinspires.ftc.teamcode.pedroPathing.follower.Follower;
+
+/**
+ * This is the TeleOpEnhancements OpMode. It is an example usage of the TeleOp enhancements that
+ * Pedro Pathing is capable of.
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @author Aaron Yang - 10158 Scott's Bots
+ * @author Harrison Womack - 10158 Scott's Bots
+ * @version 1.0, 3/21/2024
+ */
+@TeleOp(name = "Pedro Pathing TeleOp Enhancements", group = "Test")
+public class TeleOpEnhancements extends OpMode {
+    private Follower follower;
+
+    private DcMotorEx leftFront;
+    private DcMotorEx leftRear;
+    private DcMotorEx rightFront;
+    private DcMotorEx rightRear;
+
+    /**
+     * This initializes the drive motors as well as the Follower and motion Vectors.
+     */
+    @Override
+    public void init() {
+        follower = new Follower(hardwareMap);
+
+        leftFront = hardwareMap.get(DcMotorEx.class, leftFrontMotorName);
+        leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
+        rightRear = hardwareMap.get(DcMotorEx.class, rightRearMotorName);
+        rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
+
+        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        leftRear.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightRear.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        follower.startTeleopDrive();
+    }
+
+    /**
+     * This runs the OpMode. This is only drive control with Pedro Pathing live centripetal force
+     * correction.
+     */
+    @Override
+    public void loop() {
+        follower.setTeleOpMovementVectors(-gamepad1.left_stick_y, -gamepad1.left_stick_x, -gamepad1.right_stick_x);
+        follower.update();
+    }
+}

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

@@ -0,0 +1,152 @@
+package org.firstinspires.ftc.teamcode.pedroPathing.follower;
+
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
+
+/**
+ * This is the DriveVectorScaler class. This class takes in inputs Vectors for driving, heading
+ * correction, and translational/centripetal correction and returns an array with wheel powers.
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @author Aaron Yang - 10158 Scott's Bots
+ * @author Harrison Womack - 10158 Scott's Bots
+ * @version 1.0, 3/4/2024
+ */
+public class DriveVectorScaler {
+    // This is ordered left front, left back, right front, right back. These are also normalized.
+    private Vector[] mecanumVectors;
+
+    /**
+     * This creates a new DriveVectorScaler, which takes in various movement vectors and outputs
+     * the wheel drive powers necessary to move in the intended direction, given the true movement
+     * vector for the front left mecanum wheel.
+     *
+     * @param frontLeftVector this is the front left mecanum wheel's preferred drive vector.
+     */
+    public DriveVectorScaler(Vector frontLeftVector) {
+        Vector copiedFrontLeftVector = MathFunctions.normalizeVector(frontLeftVector);
+        mecanumVectors = new Vector[]{
+                new Vector(copiedFrontLeftVector.getMagnitude(), copiedFrontLeftVector.getTheta()),
+                new Vector(copiedFrontLeftVector.getMagnitude(), 2*Math.PI-copiedFrontLeftVector.getTheta()),
+                new Vector(copiedFrontLeftVector.getMagnitude(), 2*Math.PI-copiedFrontLeftVector.getTheta()),
+                new Vector(copiedFrontLeftVector.getMagnitude(), copiedFrontLeftVector.getTheta())};
+    }
+
+    /**
+     * This takes in vectors for corrective power, heading power, and pathing power and outputs
+     * an Array of four doubles, one for each wheel's motor power.
+     *
+     * IMPORTANT NOTE: all vector inputs are clamped between 0 and 1 inclusive in magnitude.
+     *
+     * @param correctivePower this Vector includes the centrifugal force scaling Vector as well as a
+     *                        translational power Vector to correct onto the Bezier curve the Follower
+     *                        is following.
+     * @param headingPower this Vector points in the direction of the robot's current heaing, and
+     *                     the magnitude tells the robot how much it should turn and in which
+     *                     direction.
+     * @param pathingPower this Vector points in the direction the robot needs to go to continue along
+     *                     the Path.
+     * @param robotHeading this is the current heading of the robot, which is used to calculate how
+     *                     much power to allocate to each wheel.
+     * @return this returns an Array of doubles with a length of 4, which contains the wheel powers.
+     */
+    public double[] getDrivePowers(Vector correctivePower, Vector headingPower, Vector pathingPower, double robotHeading) {
+        // clamps down the magnitudes of the input vectors
+        if (correctivePower.getMagnitude() > 1) correctivePower.setMagnitude(1);
+        if (headingPower.getMagnitude() > 1) headingPower.setMagnitude(1);
+        if (pathingPower.getMagnitude() > 1) pathingPower.setMagnitude(1);
+
+        // the powers for the wheel vectors
+        double [] wheelPowers = new double[4];
+
+        // This contains a copy of the mecanum wheel vectors
+        Vector[] mecanumVectorsCopy = new Vector[4];
+
+        // this contains the pathing vectors, one for each side (heading control requires 2)
+        Vector[] truePathingVectors = new Vector[2];
+
+        if (correctivePower.getMagnitude() == 1) {
+            // checks for corrective power equal to 1 in magnitude. if equal to one, then set pathing power to that
+            truePathingVectors[0] = MathFunctions.copyVector(correctivePower);
+            truePathingVectors[1] = MathFunctions.copyVector(correctivePower);
+        } else {
+            // corrective power did not take up all the power, so add on heading power
+            Vector leftSideVector = MathFunctions.subtractVectors(correctivePower, headingPower);
+            Vector rightSideVector = MathFunctions.addVectors(correctivePower, headingPower);
+
+            if (leftSideVector.getMagnitude() > 1 || rightSideVector.getMagnitude() > 1) {
+                //if the combined corrective and heading power is greater than 1, then scale down heading power
+                double headingScalingFactor = Math.min(findNormalizingScaling(correctivePower, headingPower), findNormalizingScaling(correctivePower, MathFunctions.scalarMultiplyVector(headingPower, -1)));
+                truePathingVectors[0] = MathFunctions.subtractVectors(correctivePower, MathFunctions.scalarMultiplyVector(headingPower, headingScalingFactor));
+                truePathingVectors[1] = MathFunctions.addVectors(correctivePower, MathFunctions.scalarMultiplyVector(headingPower, headingScalingFactor));
+            } else {
+                // if we're here then we can add on some drive power but scaled down to 1
+                Vector leftSideVectorWithPathing = MathFunctions.addVectors(leftSideVector, pathingPower);
+                Vector rightSideVectorWithPathing = MathFunctions.addVectors(rightSideVector, pathingPower);
+
+                if (leftSideVectorWithPathing.getMagnitude() > 1 || rightSideVectorWithPathing.getMagnitude() > 1) {
+                    // too much power now, so we scale down the pathing vector
+                    double pathingScalingFactor = Math.min(findNormalizingScaling(leftSideVector, pathingPower), findNormalizingScaling(rightSideVector, pathingPower));
+                    truePathingVectors[0] = MathFunctions.addVectors(leftSideVector, MathFunctions.scalarMultiplyVector(pathingPower, pathingScalingFactor));
+                    truePathingVectors[1] = MathFunctions.addVectors(rightSideVector, MathFunctions.scalarMultiplyVector(pathingPower, pathingScalingFactor));
+                } else {
+                    // just add the vectors together and you get the final vector
+                    truePathingVectors[0] = MathFunctions.copyVector(leftSideVectorWithPathing);
+                    truePathingVectors[1] = MathFunctions.copyVector(rightSideVectorWithPathing);
+                }
+            }
+        }
+
+        truePathingVectors[0] = MathFunctions.scalarMultiplyVector(truePathingVectors[0], 2.0);
+        truePathingVectors[1] = MathFunctions.scalarMultiplyVector(truePathingVectors[1], 2.0);
+
+        for (int i = 0; i < mecanumVectorsCopy.length; i++) {
+            // this copies the vectors from mecanumVectors but creates new references for them
+            mecanumVectorsCopy[i] = MathFunctions.copyVector(mecanumVectors[i]);
+
+            mecanumVectorsCopy[i].rotateVector(robotHeading);
+        }
+
+        wheelPowers[0] = (mecanumVectorsCopy[1].getXComponent()*truePathingVectors[0].getYComponent() - truePathingVectors[0].getXComponent()*mecanumVectorsCopy[1].getYComponent()) / (mecanumVectorsCopy[1].getXComponent()*mecanumVectorsCopy[0].getYComponent() - mecanumVectorsCopy[0].getXComponent()*mecanumVectorsCopy[1].getYComponent());
+        wheelPowers[1] = (mecanumVectorsCopy[0].getXComponent()*truePathingVectors[0].getYComponent() - truePathingVectors[0].getXComponent()*mecanumVectorsCopy[0].getYComponent()) / (mecanumVectorsCopy[0].getXComponent()*mecanumVectorsCopy[1].getYComponent() - mecanumVectorsCopy[1].getXComponent()*mecanumVectorsCopy[0].getYComponent());
+        wheelPowers[2] = (mecanumVectorsCopy[3].getXComponent()*truePathingVectors[1].getYComponent() - truePathingVectors[1].getXComponent()*mecanumVectorsCopy[3].getYComponent()) / (mecanumVectorsCopy[3].getXComponent()*mecanumVectorsCopy[2].getYComponent() - mecanumVectorsCopy[2].getXComponent()*mecanumVectorsCopy[3].getYComponent());
+        wheelPowers[3] = (mecanumVectorsCopy[2].getXComponent()*truePathingVectors[1].getYComponent() - truePathingVectors[1].getXComponent()*mecanumVectorsCopy[2].getYComponent()) / (mecanumVectorsCopy[2].getXComponent()*mecanumVectorsCopy[3].getYComponent() - mecanumVectorsCopy[3].getXComponent()*mecanumVectorsCopy[2].getYComponent());
+
+        double wheelPowerMax = Math.max(Math.max(Math.abs(wheelPowers[0]), Math.abs(wheelPowers[1])), Math.max(Math.abs(wheelPowers[2]), Math.abs(wheelPowers[3])));
+        if (wheelPowerMax > 1) {
+            wheelPowers[0] /= wheelPowerMax;
+            wheelPowers[1] /= wheelPowerMax;
+            wheelPowers[2] /= wheelPowerMax;
+            wheelPowers[3] /= wheelPowerMax;
+        }
+
+        return wheelPowers;
+    }
+
+    /**
+     * This takes in two Vectors, one static and one variable, and returns the scaling factor that,
+     * when multiplied to the variable Vector, results in magnitude of the sum of the static Vector
+     * and the scaled variable Vector being 1.
+     *
+     * IMPORTANT NOTE: I did not intend for this to be used for anything other than the method above
+     * this one in this class, so there will be errors if you input Vectors of length greater than 1,
+     * and it will scale up the variable Vector if the magnitude of the sum of the two input Vectors
+     * isn't greater than 1. So, just don't use this elsewhere. There's gotta be a better way to do
+     * whatever you're trying to do.
+     *
+     * I know that this is used outside of this class, however, I created this method so I get to
+     * use it if I want to. Also, it's only used once outside of the DriveVectorScaler class, and
+     * it's used to scale Vectors, as intended.
+     *
+     * @param staticVector the Vector that is held constant.
+     * @param variableVector the Vector getting scaled to make the sum of the input Vectors have a
+     *                       magnitude of 1.
+     * @return returns the scaling factor for the variable Vector.
+     */
+    public double findNormalizingScaling(Vector staticVector, Vector variableVector) {
+            double a = Math.pow(variableVector.getXComponent(), 2) + Math.pow(variableVector.getYComponent(), 2);
+            double b = staticVector.getXComponent() * variableVector.getXComponent() + staticVector.getYComponent() * variableVector.getYComponent();
+            double c = Math.pow(staticVector.getXComponent(), 2) + Math.pow(staticVector.getYComponent(), 2) - 1.0;
+            return (-b + Math.sqrt(Math.pow(b, 2) - a*c))/(a);
+    }
+}

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

@@ -0,0 +1,83 @@
+package org.firstinspires.ftc.teamcode.pedroPathing.localization;
+
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+
+/**
+ * This is the Encoder class. This tracks the position of a motor of class DcMotorEx. The motor
+ * must have an encoder attached. It can also get changes in position.
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @version 1.0, 4/2/2024
+ */
+public class Encoder {
+    private DcMotorEx motor;
+    private double previousPosition;
+    private double currentPosition;
+    private double multiplier;
+
+    public final static double FORWARD = 1, REVERSE = -1;
+
+    /**
+     * This creates a new Encoder from a DcMotorEx.
+     *
+     * @param setMotor the motor this will be tracking
+     */
+    public Encoder(DcMotorEx setMotor) {
+        motor = setMotor;
+        multiplier = FORWARD;
+        reset();
+    }
+
+    /**
+     * This sets the direction/multiplier of the Encoder. Setting 1 or -1 will make the Encoder track
+     * forward or in reverse, respectively. Any multiple of either one will scale the Encoder's output
+     * by that amount.
+     *
+     * @param setMultiplier the multiplier/direction to set
+     */
+    public void setDirection(double setMultiplier) {
+        multiplier = setMultiplier;
+    }
+
+    /**
+     * This resets the Encoder's position and the current and previous position in the code.
+     */
+    public void reset() {
+        motor.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        previousPosition = motor.getCurrentPosition();
+        currentPosition = motor.getCurrentPosition();
+        motor.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+    }
+
+    /**
+     * This updates the Encoder's tracked current position and previous position.
+     */
+    public void update() {
+        previousPosition = currentPosition;
+        currentPosition = motor.getCurrentPosition();
+    }
+
+    /**
+     * This returns the multiplier/direction of the Encoder.
+     *
+     * @return returns the multiplier
+     */
+    public double getMultiplier() {
+        return multiplier * (motor.getDirection() == DcMotorSimple.Direction.FORWARD ? 1 : -1);
+    }
+
+    /**
+     * This returns the change in position from the previous position to the current position. One
+     * important thing to note is that this encoder does not track velocity, only change in position.
+     * This is because I am using a pose exponential method of localization, which doesn't need the
+     * velocity of the encoders. Velocity of the robot is calculated in the localizer using an elapsed
+     * time timer there.
+     *
+     * @return returns the change in position of the Encoder
+     */
+    public double getDeltaPosition() {
+        return getMultiplier() * (currentPosition - previousPosition);
+    }
+}

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

@@ -0,0 +1,94 @@
+package org.firstinspires.ftc.teamcode.pedroPathing.localization;
+
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
+
+/**
+ * This is the Localizer class. It is an abstract superclass of all localizers used in Pedro Pathing,
+ * so it contains abstract methods that will have a concrete implementation in the subclasses. Any
+ * method that all localizers will need will be in this class.
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @version 1.0, 4/2/2024
+ */
+public abstract class Localizer {
+
+    /**
+     * This returns the current pose estimate from the Localizer.
+     *
+     * @return returns the pose as a Pose object.
+     */
+    public abstract Pose getPose();
+
+    /**
+     * This returns the current velocity estimate from the Localizer.
+     *
+     * @return returns the velocity as a Pose object.
+     */
+    public abstract Pose getVelocity();
+
+    /**
+     * This returns the current velocity estimate from the Localizer as a Vector.
+     *
+     * @return returns the velocity as a Vector.
+     */
+    public abstract Vector getVelocityVector();
+
+    /**
+     * This sets the start pose of the Localizer. Changing the start pose should move the robot as if
+     * all its previous movements were displacing it from its new start pose.
+     *
+     * @param setStart the new start pose
+     */
+    public abstract void setStartPose(Pose setStart);
+
+    /**
+     * This sets the current pose estimate of the Localizer. Changing this should just change the
+     * robot's current pose estimate, not anything to do with the start pose.
+     *
+     * @param setPose the new current pose estimate
+     */
+    public abstract void setPose(Pose setPose);
+
+    /**
+     * This calls an update to the Localizer, updating the current pose estimate and current velocity
+     * estimate.
+     */
+    public abstract void update();
+
+    /**
+     * This returns how far the robot has turned in radians, in a number not clamped between 0 and
+     * 2 * pi radians. This is used for some tuning things and nothing actually within the following.
+     *
+     * @return returns how far the robot has turned in total, in radians.
+     */
+    public abstract double getTotalHeading();
+
+    /**
+     * This returns the multiplier applied to forward movement measurement to convert from encoder
+     * ticks to inches. This is found empirically through a tuner.
+     *
+     * @return returns the forward ticks to inches multiplier
+     */
+    public abstract double getForwardMultiplier();
+
+    /**
+     * This returns the multiplier applied to lateral/strafe movement measurement to convert from
+     * encoder ticks to inches. This is found empirically through a tuner.
+     *
+     * @return returns the lateral/strafe ticks to inches multiplier
+     */
+    public abstract double getLateralMultiplier();
+
+    /**
+     * This returns the multiplier applied to turning movement measurement to convert from encoder
+     * ticks to radians. This is found empirically through a tuner.
+     *
+     * @return returns the turning ticks to radians multiplier
+     */
+    public abstract double getTurningMultiplier();
+
+    /**
+     * This resets the IMU of the localizer, if applicable.
+     */
+    public abstract void resetIMU();
+}

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

@@ -0,0 +1,273 @@
+package org.firstinspires.ftc.teamcode.pedroPathing.localization;
+
+import java.util.Arrays;
+
+/**
+ * This is the Matrix class. This defines matrices, primarily for use in the localizers. However, if
+ * matrices and matrix operations are necessary, this class as well as some operations in the
+ * MathFunctions class can absolutely be used there as well. It's similar to Mats in OpenCV if you've
+ * used them before, but with more limited functionality.
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @version 1.0, 4/2/2024
+ */
+public class Matrix {
+    private double[][] matrix;
+
+    /**
+     * This creates a new Matrix of width and height 0.
+     */
+    public Matrix() {
+        matrix = new double[0][0];
+    }
+
+    /**
+     * This creates a new Matrix with a specified width and height.
+     *
+     * @param rows the number of rows, or height
+     * @param columns the number of columns, or width
+     */
+    public Matrix(int rows, int columns) {
+        matrix = new double[rows][columns];
+    }
+
+    /**
+     * This creates a new Matrix from a 2D matrix of doubles. Please only enter rectangular 2D
+     * Arrays of doubles or else things mess up.
+     *
+     * @param setMatrix the 2D Array of doubles
+     */
+    public Matrix(double[][] setMatrix) {
+        setMatrix(setMatrix);
+    }
+
+    /**
+     * This creates a new Matrix from another Matrix.
+     *
+     * @param setMatrix the Matrix input.
+     */
+    public Matrix(Matrix setMatrix) {
+        setMatrix(setMatrix);
+    }
+
+    /**
+     * This creates a copy of a 2D Array of doubles that references entirely new memory locations
+     * from the original 2D Array of doubles, so no issues with mutability.
+     *
+     * @param copyMatrix the 2D Array of doubles to copy
+     * @return returns a deep copy of the input Array
+     */
+    public static double[][] deepCopy(double[][] copyMatrix) {
+        double[][] returnMatrix = new double[copyMatrix.length][copyMatrix[0].length];
+        for (int i = 0; i < copyMatrix.length; i++) {
+            returnMatrix[i] = Arrays.copyOf(copyMatrix[i], copyMatrix[i].length);
+        }
+        return returnMatrix;
+    }
+
+    /**
+     * This returns a deep copy of the 2D Array that this Matrix is based on.
+     *
+     * @return returns the 2D Array of doubles this Matrix is built on
+     */
+    public double[][] getMatrix() {
+        return deepCopy(matrix);
+    }
+
+    /**
+     * This returns a specified row of the Matrix in the form of an Array of doubles.
+     *
+     * @param row the index of the row to return
+     * @return returns the row of the Matrix specified
+     */
+    public double[] get(int row) {
+        return Arrays.copyOf(matrix[row], matrix[row].length);
+    }
+
+    /**
+     * This returns a specified element of the Matrix as a double.
+     *
+     * @param row the index of the row of the element
+     * @param column the index of the column of the element
+     * @return returns the element of the Matrix specified
+     */
+    public double get(int row, int column) {
+        return get(row)[column];
+    }
+
+    /**
+     * This returns the number of rows of the Matrix, as determined by the length of the 2D Array.
+     * If the Matrix/2D Array is not rectangular, issues arise.
+     *
+     * @return returns the number of rows in the Matrix
+     */
+    public int getRows() {
+        return matrix.length;
+    }
+
+    /**
+     * This returns the number of columns of the Matrix, as determined by the length of the first Array
+     * in the 2D Array. If the Matrix/2D Array is not rectangular, issues arise.
+     *
+     * @return returns the number of columns in the Matrix
+     */
+    public int getColumns() {
+        return matrix[0].length;
+    }
+
+    /**
+     * This sets the 2D Array of this Matrix to a copy of the 2D Array of another Matrix.
+     *
+     * @param setMatrix the Matrix to copy from
+     * @return returns if the operation was successful
+     */
+    public boolean setMatrix(Matrix setMatrix) {
+        return setMatrix(setMatrix.getMatrix());
+    }
+
+    /**
+     * This sets the 2D Array of this Matrix to a copy of a specified 2D Array.
+     *
+     * @param setMatrix the 2D Array to copy from
+     * @return returns if the operation was successful
+     */
+    public boolean setMatrix(double[][] setMatrix) {
+        int columns = setMatrix[0].length;
+        for (int i = 0; i < setMatrix.length; i++) {
+            if (setMatrix[i].length != columns) {
+                return false;
+            }
+        }
+        matrix = deepCopy(setMatrix);
+        return true;
+    }
+
+    /**
+     * This sets a row of the Matrix to a copy of a specified Array of doubles.
+     *
+     * @param row the row to be written over
+     * @param input the Array input
+     * @return returns if the operation was successful
+     */
+    public boolean set(int row, double[] input) {
+        if (input.length != getColumns()) {
+            return false;
+        }
+        matrix[row] = Arrays.copyOf(input, input.length);
+        return true;
+    }
+
+    /**
+     * This sets a specified element of the Matrix to an input value.
+     *
+     * @param row the index of the row of the specified element
+     * @param column the index of the column of the specified element
+     * @param input the input value
+     * @return returns if the operation was successful
+     */
+    public boolean set(int row, int column, double input) {
+        matrix[row][column] = input;
+        return true;
+    }
+
+    /**
+     * This adds a Matrix to this Matrix.
+     *
+     * @param input the Matrix to add to this. Nothing will change in this Matrix
+     * @return returns if the operation was successful
+     */
+    public boolean add(Matrix input) {
+        if (input.getRows() == getRows() && input.getColumns() == getColumns()) {
+            for (int i = 0; i < getRows(); i++) {
+                for (int j = 0; j < getColumns(); j++) {
+                    set(i, j, get(i,j) + input.get(i,j));
+                }
+            }
+            return true;
+        }
+        return false;
+    }
+
+    /**
+     * This subtracts a Matrix from this Matrix.
+     *
+     * @param input the Matrix to subtract from this. Nothing will change in this Matrix
+     * @return returns if the operation was successful
+     */
+    public boolean subtract(Matrix input) {
+        if (input.getRows() == getRows() && input.getColumns() == getColumns()) {
+            for (int i = 0; i < getRows(); i++) {
+                for (int j = 0; j < getColumns(); j++) {
+                    set(i, j, get(i,j) - input.get(i,j));
+                }
+            }
+            return true;
+        }
+        return false;
+    }
+
+    /**
+     * This multiplies this Matrix with a scalar.
+     *
+     * @param scalar the scalar number
+     * @return returns if the operation was successful
+     */
+    public boolean scalarMultiply(double scalar) {
+        for (int i = 0; i < getRows(); i++) {
+            for (int j = 0; j < getColumns(); j++) {
+                set(i, j, scalar * get(i,j));
+            }
+        }
+        return true;
+    }
+
+    /**
+     * This multiplies the Matrix by -1, flipping the signs of all the elements within.
+     *
+     * @return returns if the operation was successful
+     */
+    public boolean flipSigns() {
+        return scalarMultiply(-1);
+    }
+
+    /**
+     * This multiplies a Matrix to this Matrix.
+     *
+     * @param input the Matrix to multiply to this. Nothing will change in this Matrix
+     * @return returns if the operation was successful
+     */
+    public boolean multiply(Matrix input) {
+        if (getColumns() == input.getRows()) {
+            Matrix product = new Matrix(getRows(), input.getColumns());
+            for (int i = 0; i < product.getRows(); i++) {
+                for (int j = 0; j < product.getColumns(); j++) {
+                    double value = 0;
+                    for (int k = 0; k < get(i).length; k++) {
+                        value += get(i, k) * input.get(k, j);
+                    }
+                    product.set(i, j, value);
+                }
+            }
+            setMatrix(product);
+            return true;
+        }
+        return false;
+    }
+
+    /**
+     * This multiplies a Matrix to another Matrix. This will not change any data in the two input
+     * Matrices.
+     *
+     * @param one the first Matrix to multiply.
+     * @param two the second Matrix to multiply
+     * @return returns if the operation was successful
+     */
+    public static Matrix multiply(Matrix one, Matrix two) {
+        Matrix returnMatrix = new Matrix(one);
+        if (returnMatrix.multiply(two)) {
+            return returnMatrix;
+        } else {
+            return new Matrix();
+        }
+    }
+}

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

@@ -0,0 +1,211 @@
+package org.firstinspires.ftc.teamcode.pedroPathing.localization;
+
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
+
+/**
+ * This is the Pose class. It defines poses in 2D space, like the Pose2D class in Road Runner except
+ * in the Pedro Pathing code so I don't have to import the Road Runner library. A Pose consists of
+ * two coordinates defining a position and a third value for the heading, so basically just defining
+ * any position and orientation the robot can be at, unless your robot can fly for whatever reason.
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @version 1.0, 4/2/2024
+ */
+public class Pose {
+    private double x;
+    private double y;
+    private double heading;
+
+    /**
+     * This creates a new Pose from a x, y, and heading inputs.
+     *
+     * @param setX the initial x value
+     * @param setY the initial y value
+     * @param setHeading the initial heading value
+     */
+    public Pose(double setX, double setY, double setHeading) {
+        setX(setX);
+        setY(setY);
+        setHeading(setHeading);
+    }
+
+    /**
+     * This creates a new Pose from x and y inputs. The heading is set to 0.
+     *
+     * @param setX the initial x value
+     * @param setY the initial y value
+     */
+    public Pose(double setX, double setY) {
+        this(setX, setY, 0);
+    }
+
+    /**
+     * This creates a new Pose with no inputs and 0 for all values.
+     */
+    public Pose() {
+        this(0,0,0);
+    }
+
+    /**
+     * This sets the x value.
+     *
+     * @param set the x value
+     */
+    public void setX(double set) {
+        x = set;
+    }
+
+    /**
+     * This sets the y value.
+     *
+     * @param set the y value
+     */
+    public void setY(double set) {
+        y = set;
+    }
+
+    /**
+     * This sets the heading value.
+     *
+     * @param set the heading value
+     */
+    public void setHeading(double set) {
+        heading = MathFunctions.normalizeAngle(set);
+    }
+
+    /**
+     * This returns the x value.
+     *
+     * @return returns the x value
+     */
+    public double getX() {
+        return x;
+    }
+
+    /**
+     * This returns the y value.
+     *
+     * @return returns the y value
+     */
+    public double getY() {
+        return y;
+    }
+
+    /**
+     * This returns the heading value.
+     *
+     * @return returns the heading value
+     */
+    public double getHeading() {
+        return heading;
+    }
+
+    /**
+     * This returns the Pose as a Vector. Naturally, the heading data in the Pose cannot be included
+     * in the Vector.
+     *
+     * @return returns the Pose as a Vector
+     */
+    public Vector getVector() {
+        Vector returnVector = new Vector();
+        returnVector.setOrthogonalComponents(x, y);
+        return returnVector;
+    }
+
+    /**
+     * This returns a new Vector with magnitude 1 pointing in the direction of the heading.
+     *
+     * @return returns a unit Vector in the direction of the heading
+     */
+    public Vector getHeadingVector() {
+        return new Vector(1, heading);
+    }
+
+    /**
+     * This adds all the values of an input Pose to this Pose. The input Pose's data will not be
+     * changed.
+     *
+     * @param pose the input Pose
+     */
+    public void add(Pose pose) {
+        setX(x + pose.getX());
+        setY(y + pose.getY());
+        setHeading(heading + pose.getHeading());
+    }
+
+    /**
+     * This subtracts all the values of an input Pose from this Pose. The input Pose's data will not
+     * be changed.
+     *
+     * @param pose the input Pose
+     */
+    public void subtract(Pose pose) {
+        setX(x - pose.getX());
+        setY(y - pose.getY());
+        setHeading(heading - pose.getHeading());
+    }
+
+    /**
+     * This multiplies all the values of this Pose by a scalar.
+     *
+     * @param scalar the scalar
+     */
+    public void scalarMultiply(double scalar) {
+        setX(x * scalar);
+        setY(y * scalar);
+        setHeading(heading * scalar);
+    }
+
+    /**
+     * This divides all the values of this Pose by a scalar.
+     *
+     * @param scalar the scalar
+     */
+    public void scalarDivide(double scalar) {
+        setX(x / scalar);
+        setY(y / scalar);
+        setHeading(heading / scalar);
+    }
+
+    /**
+     * This flips the signs of all values in this Pose by multiplying them by -1. Heading values are
+     * still normalized to be between 0 and 2 * pi in value.
+     */
+    public void flipSigns() {
+        setX(-x);
+        setY(-y);
+        setHeading(-heading);
+    }
+
+    /**
+     * This returns if a Pose is within a specified accuracy of this Pose in terms of x position,
+     * y position, and heading.
+     *
+     * @param pose the input Pose to check
+     * @param accuracy the specified accuracy necessary to return true
+     * @return returns if the input Pose is within the specified accuracy of this Pose
+     */
+    public boolean roughlyEquals(Pose pose, double accuracy) {
+        return MathFunctions.roughlyEquals(x, pose.getX(), accuracy) && MathFunctions.roughlyEquals(y, pose.getY(), accuracy) && MathFunctions.roughlyEquals(MathFunctions.getSmallestAngleDifference(heading, pose.getHeading()), 0, accuracy);
+    }
+
+    /**
+     * This checks if the input Pose is within 0.0001 in all values to this Pose.
+     *
+     * @param pose the input Pose
+     * @return returns if the input Pose is within 0.0001 of this Pose
+     */
+    public boolean roughlyEquals(Pose pose) {
+        return roughlyEquals(pose, 0.0001);
+    }
+
+    /**
+     * This creates a copy of this Pose that points to a new memory location.
+     *
+     * @return returns a deep copy of this Pose
+     */
+    public Pose copy() {
+        return new Pose(getX(), getY(), getHeading());
+    }
+}

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

@@ -0,0 +1,350 @@
+package org.firstinspires.ftc.teamcode.pedroPathing.localization;
+
+import com.qualcomm.hardware.lynx.LynxModule;
+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;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
+
+/**
+ * This is the PoseUpdater class. This class handles getting pose data from the localizer and returning
+ * the information in a useful way to the Follower.
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @author Aaron Yang - 10158 Scott's Bots
+ * @author Harrison Womack - 10158 Scott's Bots
+ * @version 1.0, 3/4/2024
+ */
+public class PoseUpdater {
+    private HardwareMap hardwareMap;
+
+    private IMU imu;
+
+    private Localizer localizer;
+
+    private Pose startingPose = new Pose(0,0,0);
+
+    private Pose currentPose = startingPose;
+
+    private Pose previousPose = startingPose;
+
+    private Vector currentVelocity = new Vector();
+
+    private Vector previousVelocity = new Vector();
+
+    private Vector currentAcceleration = new Vector();
+
+    private double xOffset = 0;
+    private double yOffset = 0;
+    private double headingOffset = 0;
+
+    private long previousPoseTime;
+    private long currentPoseTime;
+
+    /**
+     * Creates a new PoseUpdater from a HardwareMap and a Localizer.
+     *
+     * @param hardwareMap the HardwareMap
+     * @param localizer the Localizer
+     */
+    public PoseUpdater(HardwareMap hardwareMap, Localizer localizer) {
+        this.hardwareMap = hardwareMap;
+
+        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
+            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
+        }
+
+        this.localizer = localizer;
+    }
+
+    /**
+     * Creates a new PoseUpdater from a HardwareMap.
+     *
+     * @param hardwareMap the HardwareMap
+     */
+    public PoseUpdater(HardwareMap hardwareMap) {
+        // TODO: replace the second argument with your preferred localizer
+        this(hardwareMap, new ThreeWheelLocalizer(hardwareMap));
+//        this(hardwareMap, new ThreeWheelIMULocalizer(hardwareMap));
+    }
+
+    /**
+     * This updates the robot's pose, as well as updating the previous pose, velocity, and
+     * acceleration. The cache for the current pose, velocity, and acceleration is cleared, and
+     * the time stamps are updated as well.
+     */
+    public void update() {
+        previousVelocity = getVelocity();
+        previousPose = applyOffset(getRawPose());
+        currentPose = null;
+        currentVelocity = null;
+        currentAcceleration = null;
+        previousPoseTime = currentPoseTime;
+        currentPoseTime = System.nanoTime();
+        localizer.update();
+    }
+
+    /**
+     * This sets the starting pose. Do not run this after moving at all.
+     *
+     * @param set the Pose to set the starting pose to.
+     */
+    public void setStartingPose(Pose set) {
+        startingPose = set;
+        previousPose = startingPose;
+        previousPoseTime = System.nanoTime();
+        currentPoseTime = System.nanoTime();
+        localizer.setStartPose(set);
+    }
+
+    /**
+     * This sets the current pose, using offsets. Think of using offsets as setting trim in an
+     * aircraft. This can be reset as well, so beware of using the resetOffset() method.
+     *
+     *
+     * @param set The pose to set the current pose to.
+     */
+    public void setCurrentPoseWithOffset(Pose set) {
+        Pose currentPose = getRawPose();
+        setXOffset(set.getX() - currentPose.getX());
+        setYOffset(set.getY() - currentPose.getY());
+        setHeadingOffset(MathFunctions.getTurnDirection(currentPose.getHeading(), set.getHeading()) * MathFunctions.getSmallestAngleDifference(currentPose.getHeading(), set.getHeading()));
+    }
+
+    /**
+     * This sets the offset for only the x position.
+     *
+     * @param offset This sets the offset.
+     */
+    public void setXOffset(double offset) {
+        xOffset = offset;
+    }
+
+    /**
+     * This sets the offset for only the y position.
+     *
+     * @param offset This sets the offset.
+     */
+    public void setYOffset(double offset) {
+        yOffset = offset;
+    }
+
+    /**
+     * This sets the offset for only the heading.
+     *
+     * @param offset This sets the offset.
+     */
+    public void setHeadingOffset(double offset) {
+        headingOffset = offset;
+    }
+
+    /**
+     * This returns the x offset.
+     *
+     * @return returns the x offset.
+     */
+    public double getXOffset() {
+        return xOffset;
+    }
+
+    /**
+     * This returns the y offset.
+     *
+     * @return returns the y offset.
+     */
+    public double getYOffset() {
+        return yOffset;
+    }
+
+    /**
+     * This returns the heading offset.
+     *
+     * @return returns the heading offset.
+     */
+    public double getHeadingOffset() {
+        return headingOffset;
+    }
+
+    /**
+     * This applies the offset to a specified Pose.
+     *
+     * @param pose The pose to be offset.
+     * @return This returns a new Pose with the offset applied.
+     */
+    public Pose applyOffset(Pose pose) {
+        return new Pose(pose.getX()+xOffset, pose.getY()+yOffset, pose.getHeading()+headingOffset);
+    }
+
+    /**
+     * This resets all offsets set to the PoseUpdater. If you have reset your pose using the
+     * setCurrentPoseUsingOffset(Pose2d set) method, then your pose will be returned to what the
+     * PoseUpdater thinks your pose would be, not the pose you reset to.
+     */
+    public void resetOffset() {
+        setXOffset(0);
+        setYOffset(0);
+        setHeadingOffset(0);
+    }
+
+    /**
+     * This returns the current pose, with offsets applied. If this is called multiple times in
+     * a single update, the current pose is cached so that subsequent calls don't have to repeat
+     * localizer calls or calculations.
+     *
+     * @return returns the current pose.
+     */
+    public Pose getPose() {
+        if (currentPose == null) {
+            currentPose = localizer.getPose();
+            return applyOffset(currentPose);
+        } else {
+            return applyOffset(currentPose);
+        }
+    }
+
+    /**
+     * This returns the current raw pose, without any offsets applied. If this is called multiple times in
+     * a single update, the current pose is cached so that subsequent calls don't have to repeat
+     * localizer calls or calculations.
+     *
+     * @return returns the raw pose.
+     */
+    public Pose getRawPose() {
+        if (currentPose == null) {
+            currentPose = localizer.getPose();
+            return currentPose;
+        } else {
+            return currentPose;
+        }
+    }
+
+    /**
+     * This sets the current pose without using resettable offsets.
+     *
+     * @param set the pose to set the current pose to.
+     */
+    public void setPose(Pose set) {
+        resetOffset();
+        localizer.setPose(set);
+    }
+
+    /**
+     * Returns the robot's pose from the previous update.
+     *
+     * @return returns the robot's previous pose.
+     */
+    public Pose getPreviousPose() {
+        return previousPose;
+    }
+
+    /**
+     * Returns the robot's change in pose from the previous update.
+     *
+     * @return returns the robot's delta pose.
+     */
+    public Pose getDeltaPose() {
+        Pose returnPose = getPose();
+        returnPose.subtract(previousPose);
+        return returnPose;
+    }
+
+    /**
+     * This returns the velocity of the robot as a Vector. If this is called multiple times in
+     * a single update, the velocity Vector is cached so that subsequent calls don't have to repeat
+     * localizer calls or calculations.
+     *
+     * @return returns the velocity of the robot.
+     */
+    public Vector getVelocity() {
+        if (currentVelocity == null) {
+            currentVelocity = new Vector();
+            currentVelocity.setOrthogonalComponents(getPose().getX() - previousPose.getX(), getPose().getY() - previousPose.getY());
+            currentVelocity.setMagnitude(MathFunctions.distance(getPose(), previousPose) / ((currentPoseTime - previousPoseTime) / Math.pow(10.0, 9)));
+            return MathFunctions.copyVector(currentVelocity);
+        } else {
+            return MathFunctions.copyVector(currentVelocity);
+        }
+    }
+
+    /**
+     * This returns the angular velocity of the robot as a double.
+     *
+     * @return returns the angular velocity of the robot.
+     */
+    public double getAngularVelocity() {
+        return MathFunctions.getTurnDirection(previousPose.getHeading(), getPose().getHeading()) * MathFunctions.getSmallestAngleDifference(getPose().getHeading(), previousPose.getHeading()) / ((currentPoseTime-previousPoseTime)/Math.pow(10.0, 9));
+    }
+
+    /**
+     * This returns the acceleration of the robot as a Vector. If this is called multiple times in
+     * a single update, the acceleration Vector is cached so that subsequent calls don't have to
+     * repeat localizer calls or calculations.
+     *
+     * @return returns the acceleration of the robot.
+     */
+    public Vector getAcceleration() {
+        if (currentAcceleration == null) {
+            currentAcceleration = MathFunctions.subtractVectors(getVelocity(), previousVelocity);
+            currentAcceleration.setMagnitude(currentAcceleration.getMagnitude() / ((currentPoseTime - previousPoseTime) / Math.pow(10.0, 9)));
+            return MathFunctions.copyVector(currentAcceleration);
+        } else {
+            return MathFunctions.copyVector(currentAcceleration);
+        }
+    }
+
+    /**
+     * This resets the heading of the robot to the IMU's heading, using Road Runner's pose reset.
+     */
+    public void resetHeadingToIMU() {
+        localizer.setPose(new Pose(getPose().getX(), getPose().getY(), getNormalizedIMUHeading() + startingPose.getHeading()));
+    }
+
+    /**
+     * This resets the heading of the robot to the IMU's heading, using offsets instead of Road
+     * Runner's pose reset. This way, it's faster, but this can be wiped with the resetOffsets()
+     * method.
+     */
+    public void resetHeadingToIMUWithOffsets() {
+        setCurrentPoseWithOffset(new Pose(getPose().getX(), getPose().getY(), getNormalizedIMUHeading() + startingPose.getHeading()));
+    }
+
+    /**
+     * This returns the IMU heading normalized to be between [0, 2 PI] radians.
+     *
+     * @return returns the normalized IMU heading.
+     */
+    public double getNormalizedIMUHeading() {
+        return MathFunctions.normalizeAngle(-imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
+    }
+
+    /**
+     * This returns the total number of radians the robot has turned.
+     *
+     * @return the total heading.
+     */
+    public double getTotalHeading() {
+        return localizer.getTotalHeading();
+    }
+
+    /**
+     * This returns the Localizer.
+     *
+     * @return the Localizer
+     */
+    public Localizer getLocalizer() {
+        return localizer;
+    }
+
+    /**
+     *
+     */
+    public void resetIMU() {
+        localizer.resetIMU();
+    }
+}

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

@@ -0,0 +1,46 @@
+package com.acmerobotics.roadrunner.ftc
+
+import com.qualcomm.hardware.sparkfun.SparkFunOTOS
+import com.qualcomm.robotcore.hardware.I2cDeviceSynch
+import com.qualcomm.robotcore.hardware.configuration.annotations.DeviceProperties
+import com.qualcomm.robotcore.hardware.configuration.annotations.I2cDeviceType
+import java.util.*
+@I2cDeviceType
+@DeviceProperties(
+    name = "SparkFun OTOS Corrected",
+    xmlTag = "SparkFunOTOS2",
+    description = "SparkFun Qwiic Optical Tracking Odometry Sensor Corrected"
+)
+class SparkFunOTOSCorrected(deviceClient: I2cDeviceSynch) : SparkFunOTOS(deviceClient) {
+    /**
+     * Gets only the position and velocity measured by the
+     * OTOS in a single burst read
+     * @param pos Position measured by the OTOS
+     * @param vel Velocity measured by the OTOS
+     */
+    fun getPosVel(pos: Pose2D, vel: Pose2D) {
+        // Read all pose registers
+        val rawData = deviceClient.read(REG_POS_XL.toInt(), 12)
+
+        // Convert raw data to pose units
+        pos.set(regsToPose(Arrays.copyOfRange(rawData, 0, 6), INT16_TO_METER, INT16_TO_RAD))
+        vel.set(regsToPose(Arrays.copyOfRange(rawData, 6, 12), INT16_TO_MPS, INT16_TO_RPS))
+    }
+
+    // Modified version of poseToRegs to fix pose setting issue
+    // see https://discord.com/channels/225450307654647808/1246977443030368349/1271702497659977760
+    override fun poseToRegs(rawData: ByteArray, pose: Pose2D, xyToRaw: Double, hToRaw: Double) {
+        // Convert pose units to raw data
+        val rawX = (_distanceUnit.toMeters(pose.x) * xyToRaw).toInt().toShort()
+        val rawY = (_distanceUnit.toMeters(pose.y) * xyToRaw).toInt().toShort()
+        val rawH = (_angularUnit.toRadians(pose.h) * hToRaw).toInt().toShort()
+
+        // Store raw data in buffer
+        rawData[0] = (rawX.toInt() and 0xFF).toByte()
+        rawData[1] = ((rawX.toInt() shr 8) and 0xFF).toByte()
+        rawData[2] = (rawY.toInt() and 0xFF).toByte()
+        rawData[3] = ((rawY.toInt() shr 8) and 0xFF).toByte()
+        rawData[4] = (rawH.toInt() and 0xFF).toByte()
+        rawData[5] = ((rawH.toInt() shr 8) and 0xFF).toByte()
+    }
+}

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

@@ -0,0 +1,272 @@
+package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
+
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorName;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorName;
+
+import com.acmerobotics.dashboard.config.Config;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Localizer;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Matrix;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
+import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
+
+/**
+ * This is the DriveEncoderLocalizer class. This class extends the Localizer superclass and is a
+ * localizer that uses the drive encoder set up.
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @version 1.0, 4/2/2024
+ */
+@Config
+public class DriveEncoderLocalizer extends Localizer {
+    private HardwareMap hardwareMap;
+    private Pose startPose;
+    private Pose displacementPose;
+    private Pose currentVelocity;
+    private Matrix prevRotationMatrix;
+    private NanoTimer timer;
+    private long deltaTimeNano;
+    private Encoder leftFront;
+    private Encoder rightFront;
+    private Encoder leftRear;
+    private Encoder rightRear;
+    private double totalHeading;
+    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;
+
+    /**
+     * This creates a new DriveEncoderLocalizer from a HardwareMap, with a starting Pose at (0,0)
+     * facing 0 heading.
+     *
+     * @param map the HardwareMap
+     */
+    public DriveEncoderLocalizer(HardwareMap map) {
+        this(map, new Pose());
+    }
+
+    /**
+     * This creates a new DriveEncoderLocalizer from a HardwareMap and a Pose, with the Pose
+     * specifying the starting pose of the localizer.
+     *
+     * @param map the HardwareMap
+     * @param setStartPose the Pose to start from
+     */
+    public DriveEncoderLocalizer(HardwareMap map, Pose setStartPose) {
+        hardwareMap = map;
+
+        leftFront = new Encoder(hardwareMap.get(DcMotorEx.class, leftFrontMotorName));
+        leftRear = new Encoder(hardwareMap.get(DcMotorEx.class, leftRearMotorName));
+        rightRear = new Encoder(hardwareMap.get(DcMotorEx.class, rightRearMotorName));
+        rightFront = new Encoder(hardwareMap.get(DcMotorEx.class, rightFrontMotorName));
+
+        // TODO: reverse any encoders necessary
+        leftFront.setDirection(Encoder.REVERSE);
+        rightRear.setDirection(Encoder.REVERSE);
+        leftRear.setDirection(Encoder.FORWARD);
+        rightRear.setDirection(Encoder.FORWARD);
+
+        setStartPose(setStartPose);
+        timer = new NanoTimer();
+        deltaTimeNano = 1;
+        displacementPose = new Pose();
+        currentVelocity = new Pose();
+    }
+
+    /**
+     * This returns the current pose estimate.
+     *
+     * @return returns the current pose estimate as a Pose
+     */
+    @Override
+    public Pose getPose() {
+        return MathFunctions.addPoses(startPose, displacementPose);
+    }
+
+    /**
+     * This returns the current velocity estimate.
+     *
+     * @return returns the current velocity estimate as a Pose
+     */
+    @Override
+    public Pose getVelocity() {
+        return currentVelocity.copy();
+    }
+
+    /**
+     * This returns the current velocity estimate.
+     *
+     * @return returns the current velocity estimate as a Vector
+     */
+    @Override
+    public Vector getVelocityVector() {
+        return currentVelocity.getVector();
+    }
+
+    /**
+     * This sets the start pose. Changing the start pose should move the robot as if all its
+     * previous movements were displacing it from its new start pose.
+     *
+     * @param setStart the new start pose
+     */
+    @Override
+    public void setStartPose(Pose setStart) {
+        startPose = setStart;
+    }
+
+    /**
+     * This sets the Matrix that contains the previous pose's heading rotation.
+     *
+     * @param heading the rotation of the Matrix
+     */
+    public void setPrevRotationMatrix(double heading) {
+        prevRotationMatrix = new Matrix(3,3);
+        prevRotationMatrix.set(0, 0, Math.cos(heading));
+        prevRotationMatrix.set(0, 1, -Math.sin(heading));
+        prevRotationMatrix.set(1, 0, Math.sin(heading));
+        prevRotationMatrix.set(1, 1, Math.cos(heading));
+        prevRotationMatrix.set(2, 2, 1.0);
+    }
+
+    /**
+     * This sets the current pose estimate. Changing this should just change the robot's current
+     * pose estimate, not anything to do with the start pose.
+     *
+     * @param setPose the new current pose estimate
+     */
+    @Override
+    public void setPose(Pose setPose) {
+        displacementPose = MathFunctions.subtractPoses(setPose, startPose);
+        resetEncoders();
+    }
+
+    /**
+     * This updates the elapsed time timer that keeps track of time between updates, as well as the
+     * change position of the Encoders. Then, the robot's global change in position is calculated
+     * using the pose exponential method.
+     */
+    @Override
+    public void update() {
+        deltaTimeNano = timer.getElapsedTime();
+        timer.resetTimer();
+
+        updateEncoders();
+        Matrix robotDeltas = getRobotDeltas();
+        Matrix globalDeltas;
+        setPrevRotationMatrix(getPose().getHeading());
+
+        Matrix transformation = new Matrix(3,3);
+        if (Math.abs(robotDeltas.get(2, 0)) < 0.001) {
+            transformation.set(0, 0, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
+            transformation.set(0, 1, -robotDeltas.get(2, 0) / 2.0);
+            transformation.set(1, 0, robotDeltas.get(2, 0) / 2.0);
+            transformation.set(1, 1, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
+            transformation.set(2, 2, 1.0);
+        } else {
+            transformation.set(0, 0, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
+            transformation.set(0, 1, (Math.cos(robotDeltas.get(2, 0)) - 1.0) / robotDeltas.get(2, 0));
+            transformation.set(1, 0, (1.0 - Math.cos(robotDeltas.get(2, 0))) / robotDeltas.get(2, 0));
+            transformation.set(1, 1, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
+            transformation.set(2, 2, 1.0);
+        }
+
+        globalDeltas = Matrix.multiply(Matrix.multiply(prevRotationMatrix, transformation), robotDeltas);
+
+        displacementPose.add(new Pose(globalDeltas.get(0, 0), globalDeltas.get(1, 0), globalDeltas.get(2, 0)));
+        currentVelocity = new Pose(globalDeltas.get(0, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(1, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(2, 0) / (deltaTimeNano * Math.pow(10.0, 9)));
+
+        totalHeading += globalDeltas.get(2, 0);
+    }
+
+    /**
+     * This updates the Encoders.
+     */
+    public void updateEncoders() {
+        leftFront.update();
+        rightFront.update();
+        leftRear.update();
+        rightRear.update();
+    }
+
+    /**
+     * This resets the Encoders.
+     */
+    public void resetEncoders() {
+        leftFront.reset();
+        rightFront.reset();
+        leftRear.reset();
+        rightRear.reset();
+    }
+
+    /**
+     * This calculates the change in position from the perspective of the robot using information
+     * from the Encoders.
+     *
+     * @return returns a Matrix containing the robot relative movement.
+     */
+    public Matrix getRobotDeltas() {
+        Matrix returnMatrix = new Matrix(3,1);
+        // x/forward movement
+        returnMatrix.set(0,0, FORWARD_TICKS_TO_INCHES * (leftFront.getDeltaPosition() + rightFront.getDeltaPosition() + leftRear.getDeltaPosition() + rightRear.getDeltaPosition()));
+        //y/strafe movement
+        returnMatrix.set(1,0, STRAFE_TICKS_TO_INCHES * (-leftFront.getDeltaPosition() + rightFront.getDeltaPosition() + leftRear.getDeltaPosition() - rightRear.getDeltaPosition()));
+        // theta/turning
+        returnMatrix.set(2,0, TURN_TICKS_TO_RADIANS * ((-leftFront.getDeltaPosition() + rightFront.getDeltaPosition() - leftRear.getDeltaPosition() + rightRear.getDeltaPosition()) / (ROBOT_WIDTH + ROBOT_LENGTH)));
+        return returnMatrix;
+    }
+
+    /**
+     * This returns how far the robot has turned in radians, in a number not clamped between 0 and
+     * 2 * pi radians. This is used for some tuning things and nothing actually within the following.
+     *
+     * @return returns how far the robot has turned in total, in radians.
+     */
+    public double getTotalHeading() {
+        return totalHeading;
+    }
+
+    /**
+     * This returns the multiplier applied to forward movement measurement to convert from encoder
+     * ticks to inches. This is found empirically through a tuner.
+     *
+     * @return returns the forward ticks to inches multiplier
+     */
+    public double getForwardMultiplier() {
+        return FORWARD_TICKS_TO_INCHES;
+    }
+
+    /**
+     * This returns the multiplier applied to lateral/strafe movement measurement to convert from
+     * encoder ticks to inches. This is found empirically through a tuner.
+     *
+     * @return returns the lateral/strafe ticks to inches multiplier
+     */
+    public double getLateralMultiplier() {
+        return STRAFE_TICKS_TO_INCHES;
+    }
+
+    /**
+     * This returns the multiplier applied to turning movement measurement to convert from encoder
+     * ticks to radians. This is found empirically through a tuner.
+     *
+     * @return returns the turning ticks to radians multiplier
+     */
+    public double getTurningMultiplier() {
+        return TURN_TICKS_TO_RADIANS;
+    }
+
+    /**
+     * This does nothing since this localizer does not use the IMU.
+     */
+    public void resetIMU() {
+    }
+}

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

@@ -0,0 +1,218 @@
+package org.firstinspires.ftc.teamcode.pedroPathing.localization.localizers;
+
+import com.qualcomm.hardware.sparkfun.SparkFunOTOS;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Localizer;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
+
+/**
+ * This is the OTOSLocalizer class. This class extends the Localizer superclass and is a
+ * localizer that uses the SparkFun OTOS. The diagram below, which is modified from
+ * Road Runner, shows a typical set up.
+ *
+ * The view is from the top of the robot looking downwards.
+ *
+ * left on robot is the y positive direction
+ *
+ * forward on robot is the x positive direction
+ *
+ *    /--------------\
+ *    |     ____     |
+ *    |     ----     |
+ *    | ||        || |
+ *    | ||        || |  ----> left (y positive)
+ *    |              |
+ *    |              |
+ *    \--------------/
+ *           |
+ *           |
+ *           V
+ *    forward (x positive)
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @version 1.0, 7/20/2024
+ */
+public class OTOSLocalizer extends Localizer {
+    private HardwareMap hardwareMap;
+    private Pose startPose;
+    private SparkFunOTOS otos;
+    private double previousHeading;
+    private double totalHeading;
+
+    /**
+     * This creates a new OTOSLocalizer from a HardwareMap, with a starting Pose at (0,0)
+     * facing 0 heading.
+     *
+     * @param map the HardwareMap
+     */
+    public OTOSLocalizer(HardwareMap map) {
+        this(map, new Pose());
+    }
+
+    /**
+     * This creates a new OTOSLocalizer from a HardwareMap and a Pose, with the Pose
+     * specifying the starting pose of the localizer.
+     *
+     * @param map the HardwareMap
+     * @param setStartPose the Pose to start from
+     */
+    public OTOSLocalizer(HardwareMap map, Pose setStartPose) {
+        hardwareMap = map;
+
+        // TODO: replace this with your OTOS port
+        /*
+         TODO: If you want to use the "SparkFunOTOSCorrected" version of OTOS, then replace the
+          'SparkFunOTOS.class' below with 'SparkFunOTOSCorrected.class' and set the OTOS as a
+          "SparkFunOTOS Corrected" in your robot confg
+         */
+         SparkFunOTOS
+        otos = hardwareMap.get(SparkFunOTOS.class, "sensor_otos");
+
+        otos.setLinearUnit(DistanceUnit.INCH);
+        otos.setAngularUnit(AngleUnit.RADIANS);
+
+        // TODO: replace this with your OTOS offset from the center of the robot
+        // For the OTOS, left/right is the y axis and forward/backward is the x axis, with left being
+        // positive y and forward being positive x. PI/2 radians is facing forward, and clockwise
+        // rotation is negative rotation.
+        otos.setOffset(new SparkFunOTOS.Pose2D(0,0,Math.PI / 2));
+
+        // TODO: replace these with your tuned multipliers
+        otos.setLinearScalar(1.0);
+        otos.setAngularScalar(1.0);
+
+        otos.calibrateImu();
+        otos.resetTracking();
+
+        setStartPose(setStartPose);
+        totalHeading = 0;
+        previousHeading = startPose.getHeading();
+
+        resetOTOS();
+    }
+
+    /**
+     * This returns the current pose estimate.
+     *
+     * @return returns the current pose estimate as a Pose
+     */
+    @Override
+    public Pose getPose() {
+        SparkFunOTOS.Pose2D pose = otos.getPosition();
+        return MathFunctions.addPoses(startPose, new Pose(pose.x, pose.y, pose.h));
+    }
+
+    /**
+     * This returns the current velocity estimate.
+     *
+     * @return returns the current velocity estimate as a Pose
+     */
+    @Override
+    public Pose getVelocity() {
+        SparkFunOTOS.Pose2D OTOSVelocity = otos.getVelocity();
+        return new Pose(OTOSVelocity.x, OTOSVelocity.y, OTOSVelocity.h);
+    }
+
+    /**
+     * This returns the current velocity estimate.
+     *
+     * @return returns the current velocity estimate as a Vector
+     */
+    @Override
+    public Vector getVelocityVector() {
+        return getVelocity().getVector();
+    }
+
+    /**
+     * This sets the start pose. Changing the start pose should move the robot as if all its
+     * previous movements were displacing it from its new start pose.
+     *
+     * @param setStart the new start pose
+     */
+    @Override
+    public void setStartPose(Pose setStart) {
+        startPose = setStart;
+    }
+
+    /**
+     * This sets the current pose estimate. Changing this should just change the robot's current
+     * pose estimate, not anything to do with the start pose.
+     *
+     * @param setPose the new current pose estimate
+     */
+    @Override
+    public void setPose(Pose setPose) {
+        resetOTOS();
+        Pose setOTOSPose = MathFunctions.subtractPoses(setPose, startPose);
+        otos.setPosition(new SparkFunOTOS.Pose2D(setOTOSPose.getX(), setOTOSPose.getY(), setOTOSPose.getHeading()));
+    }
+
+    /**
+     * This updates the total heading of the robot. The OTOS handles all other updates itself.
+     */
+    @Override
+    public void update() {
+        totalHeading += MathFunctions.getSmallestAngleDifference(otos.getPosition().h, previousHeading);
+        previousHeading = otos.getPosition().h;
+    }
+
+    /**
+     * This resets the OTOS.
+     */
+    public void resetOTOS() {
+        otos.resetTracking();
+    }
+
+    /**
+     * This returns how far the robot has turned in radians, in a number not clamped between 0 and
+     * 2 * pi radians. This is used for some tuning things and nothing actually within the following.
+     *
+     * @return returns how far the robot has turned in total, in radians.
+     */
+    public double getTotalHeading() {
+        return totalHeading;
+    }
+
+    /**
+     * This returns the multiplier applied to forward movement measurement to convert from OTOS
+     * ticks to inches. For the OTOS, this value is the same as the lateral multiplier.
+     * This is found empirically through a tuner.
+     *
+     * @return returns the forward ticks to inches multiplier
+     */
+    public double getForwardMultiplier() {
+        return otos.getLinearScalar();
+    }
+
+    /**
+     * This returns the multiplier applied to lateral/strafe movement measurement to convert from
+     * OTOS ticks to inches. For the OTOS, this value is the same as the forward multiplier.
+     * This is found empirically through a tuner.
+     *
+     * @return returns the lateral/strafe ticks to inches multiplier
+     */
+    public double getLateralMultiplier() {
+        return otos.getLinearScalar();
+    }
+
+    /**
+     * This returns the multiplier applied to turning movement measurement to convert from OTOS ticks
+     * to radians. This is found empirically through a tuner.
+     *
+     * @return returns the turning ticks to radians multiplier
+     */
+    public double getTurningMultiplier() {
+        return otos.getAngularScalar();
+    }
+
+    /**
+     * This does nothing since this localizer does not use the IMU.
+     */
+    public void resetIMU() {
+    }
+}

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

@@ -0,0 +1,159 @@
+//package org.firstinspires.ftc.teamcode.pedroPathing.localization;
+//
+//import com.acmerobotics.roadrunner.geometry.Pose2d;
+//import com.qualcomm.robotcore.hardware.HardwareMap;
+//
+//import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
+//import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
+//
+//import java.util.ArrayList;
+//import java.util.List;
+//
+///**
+// * This is the RRToPedroThreeWheelLocalizer class. This class extends the Localizer superclass and
+// * is intended to adapt the old Road Runner three wheel odometry localizer to the new Pedro Pathing
+// * localizer system.
+// *
+// * @author Anyi Lin - 10158 Scott's Bots
+// * @version 1.0, 5/9/2024
+// */
+//public class RRToPedroThreeWheelLocalizer extends Localizer {
+//    private RoadRunnerThreeWheelLocalizer localizer;
+//    private double totalHeading;
+//    private Pose startPose;
+//    private Pose previousPose;
+//
+//    /**
+//     * This creates a new RRToPedroThreeWheelLocalizer from a HardwareMap. This adapts the previously
+//     * used Road Runner localization system to the new Pedro Pathing localization system.
+//     *
+//     * @param hardwareMap the HardwareMap
+//     */
+//    public RRToPedroThreeWheelLocalizer(HardwareMap hardwareMap) {
+//        List<Integer> lastTrackingEncPositions = new ArrayList<>();
+//        List<Integer> lastTrackingEncVels = new ArrayList<>();
+//
+//        localizer = new RoadRunnerThreeWheelLocalizer(hardwareMap, lastTrackingEncPositions, lastTrackingEncVels);
+//
+//        startPose = new Pose();
+//        previousPose = new Pose();
+//    }
+//
+//    /**
+//     * This returns the current pose estimate as a Pose.
+//     *
+//     * @return returns the current pose estimate
+//     */
+//    @Override
+//    public Pose getPose() {
+//        Pose2d pose = localizer.getPoseEstimate();
+//        return new Pose(pose.getX(), pose.getY(), pose.getHeading());
+//    }
+//
+//    /**
+//     * This returns the current velocity estimate as a Pose.
+//     *
+//     * @return returns the current velocity estimate
+//     */
+//    @Override
+//    public Pose getVelocity() {
+//        Pose2d pose = localizer.getPoseVelocity();
+//        return new Pose(pose.getX(), pose.getY(), pose.getHeading());
+//    }
+//
+//    /**
+//     * This returns the current velocity estimate as a Vector.
+//     *
+//     * @return returns the current velocity estimate
+//     */
+//    @Override
+//    public Vector getVelocityVector() {
+//        Pose2d pose = localizer.getPoseVelocity();
+//        Vector returnVector = new Vector();
+//        returnVector.setOrthogonalComponents(pose.getX(), pose.getY());
+//        return returnVector;
+//    }
+//
+//    /**
+//     * This sets the start pose. Any movement of the robot is treated as a displacement from the
+//     * start pose, so moving the start pose will move the current pose estimate the same amount.
+//     *
+//     * @param setStart the new start pose
+//     */
+//    @Override
+//    public void setStartPose(Pose setStart) {
+//        Pose oldStart = startPose;
+//        startPose = setStart;
+//        Pose startDiff = MathFunctions.subtractPoses(startPose, oldStart);
+//        localizer.setPoseEstimate(new Pose2d(getPose().getX() + startDiff.getX(), getPose().getY() + startDiff.getY(), getPose().getHeading() + startDiff.getHeading()));
+//    }
+//
+//    /**
+//     * This sets the current pose estimate. This has no effect on the start pose.
+//     *
+//     * @param setPose the new current pose estimate
+//     */
+//    @Override
+//    public void setPose(Pose setPose) {
+//        localizer.setPoseEstimate(new Pose2d(setPose.getX(), setPose.getY(), setPose.getHeading()));
+//    }
+//
+//    /**
+//     * This updates the total heading and previous pose estimate. Everything else is handled by the
+//     * Road Runner localizer on its own, but updating this tells you how far the robot has really
+//     * turned.
+//     */
+//    @Override
+//    public void update() {
+//        totalHeading += MathFunctions.getTurnDirection(previousPose.getHeading(), getPose().getHeading()) * MathFunctions.getSmallestAngleDifference(previousPose.getHeading(), getPose().getHeading());
+//        previousPose = getPose();
+//    }
+//
+//    /**
+//     * This returns how far the robot has actually turned.
+//     *
+//     * @return returns the total angle turned, in degrees.
+//     */
+//    @Override
+//    public double getTotalHeading() {
+//        return totalHeading;
+//    }
+//
+//    /**
+//     * This returns the forward multiplier of the Road Runner localizer, which converts from ticks
+//     * to inches. You can actually use the tuners in Pedro Pathing to find the value that everything
+//     * multiplied together should be. If you do use that, then do be aware that the value returned is
+//     * the product of the Road Runner ticks to inches and the x multiplier.
+//     *
+//     * @return returns the forward multiplier
+//     */
+//    @Override
+//    public double getForwardMultiplier() {
+//        return RoadRunnerThreeWheelLocalizer.encoderTicksToInches(1) * RoadRunnerThreeWheelLocalizer.X_MULTIPLIER;
+//    }
+//
+//    /**
+//     * This returns the lateral multiplier of the Road Runner localizer, which converts from ticks
+//     * to inches. You can actually use the tuners in Pedro Pathing to find the value that everything
+//     * multiplied together should be. If you do use that, then do be aware that the value returned is
+//     * the product of the Road Runner ticks to inches and the y multiplier.
+//     *
+//     * @return returns the lateral multiplier
+//     */
+//    @Override
+//    public double getLateralMultiplier() {
+//        return RoadRunnerThreeWheelLocalizer.encoderTicksToInches(1) * RoadRunnerThreeWheelLocalizer.Y_MULTIPLIER;
+//    }
+//
+//    /**
+//     * This returns the turning multiplier of the Road Runner localizer, which doesn't actually exist.
+//     * There really isn't a point in tuning the turning for the Road Runner localizer. This will
+//     * actually just return the average of the two other multipliers.
+//     *
+//     * @return returns the turning multiplier
+//     */
+//    @Override
+//    public double getTurningMultiplier() {
+//        return (getForwardMultiplier() + getLateralMultiplier()) / 2;
+//    }
+//}

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

@@ -0,0 +1,132 @@
+//package org.firstinspires.ftc.teamcode.pedroPathing.localization;
+//
+//import com.acmerobotics.roadrunner.util.NanoClock;
+//import com.qualcomm.robotcore.hardware.DcMotorEx;
+//import com.qualcomm.robotcore.hardware.DcMotorSimple;
+//
+///**
+// * This class is adapted from the Road Runner Encoder class. Later, this will be replaced with a
+// * custom encoder class. According to Road Runner, this wraps a motor instance to provide corrected
+// * velocity counts and allow reversing independently of the corresponding slot's motor direction.
+// *
+// * I'm fairly sure I didn't make any changes to this class, just copied it so I wouldn't have to have
+// * import statements, so I'm not crediting myself as an author for this.
+// *
+// * @author Road Runner dev team
+// * @version 1.0, 5/9/2024
+// */
+//public class RoadRunnerEncoder {
+//    private final static int CPS_STEP = 0x10000;
+//
+//    private static double inverseOverflow(double input, double estimate) {
+//        // convert to uint16
+//        int real = (int) input & 0xffff;
+//        // initial, modulo-based correction: it can recover the remainder of 5 of the upper 16 bits
+//        // because the velocity is always a multiple of 20 cps due to Expansion Hub's 50ms measurement window
+//        real += ((real % 20) / 4) * CPS_STEP;
+//        // estimate-based correction: it finds the nearest multiple of 5 to correct the upper bits by
+//        real += Math.round((estimate - real) / (5 * CPS_STEP)) * 5 * CPS_STEP;
+//        return real;
+//    }
+//
+//    public enum Direction {
+//        FORWARD(1),
+//        REVERSE(-1);
+//
+//        private int multiplier;
+//
+//        Direction(int multiplier) {
+//            this.multiplier = multiplier;
+//        }
+//
+//        public int getMultiplier() {
+//            return multiplier;
+//        }
+//    }
+//
+//    private DcMotorEx motor;
+//    private NanoClock clock;
+//
+//    private Direction direction;
+//
+//    private int lastPosition;
+//    private int velocityEstimateIdx;
+//    private double[] velocityEstimates;
+//    private double lastUpdateTime;
+//
+//    public RoadRunnerEncoder(DcMotorEx motor, NanoClock clock) {
+//        this.motor = motor;
+//        this.clock = clock;
+//
+//        this.direction = Direction.FORWARD;
+//
+//        this.lastPosition = 0;
+//        this.velocityEstimates = new double[3];
+//        this.lastUpdateTime = clock.seconds();
+//    }
+//
+//    public RoadRunnerEncoder(DcMotorEx motor) {
+//        this(motor, NanoClock.system());
+//    }
+//
+//    public Direction getDirection() {
+//        return direction;
+//    }
+//
+//    private int getMultiplier() {
+//        return getDirection().getMultiplier() * (motor.getDirection() == DcMotorSimple.Direction.FORWARD ? 1 : -1);
+//    }
+//
+//    /**
+//     * Allows you to set the direction of the counts and velocity without modifying the motor's direction state
+//     * @param direction either reverse or forward depending on if encoder counts should be negated
+//     */
+//    public void setDirection(Direction direction) {
+//        this.direction = direction;
+//    }
+//
+//    /**
+//     * Gets the position from the underlying motor and adjusts for the set direction.
+//     * Additionally, this method updates the velocity estimates used for compensated velocity
+//     *
+//     * @return encoder position
+//     */
+//    public int getCurrentPosition() {
+//        int multiplier = getMultiplier();
+//        int currentPosition = motor.getCurrentPosition() * multiplier;
+//        if (currentPosition != lastPosition) {
+//            double currentTime = clock.seconds();
+//            double dt = currentTime - lastUpdateTime;
+//            velocityEstimates[velocityEstimateIdx] = (currentPosition - lastPosition) / dt;
+//            velocityEstimateIdx = (velocityEstimateIdx + 1) % 3;
+//            lastPosition = currentPosition;
+//            lastUpdateTime = currentTime;
+//        }
+//        return currentPosition;
+//    }
+//
+//    /**
+//     * Gets the velocity directly from the underlying motor and compensates for the direction
+//     * See {@link #getCorrectedVelocity} for high (>2^15) counts per second velocities (such as on REV Through Bore)
+//     *
+//     * @return raw velocity
+//     */
+//    public double getRawVelocity() {
+//        int multiplier = getMultiplier();
+//        return motor.getVelocity() * multiplier;
+//    }
+//
+//    /**
+//     * Uses velocity estimates gathered in {@link #getCurrentPosition} to estimate the upper bits of velocity
+//     * that are lost in overflow due to velocity being transmitted as 16 bits.
+//     * CAVEAT: must regularly call {@link #getCurrentPosition} for the compensation to work correctly.
+//     *
+//     * @return corrected velocity
+//     */
+//    public double getCorrectedVelocity() {
+//        double median = velocityEstimates[0] > velocityEstimates[1]
+//                ? Math.max(velocityEstimates[1], Math.min(velocityEstimates[0], velocityEstimates[2]))
+//                : Math.max(velocityEstimates[0], Math.min(velocityEstimates[1], velocityEstimates[2]));
+//        return inverseOverflow(getRawVelocity(), median);
+//    }
+//}

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

@@ -0,0 +1,123 @@
+//package org.firstinspires.ftc.teamcode.pedroPathing.localization;
+//
+//import androidx.annotation.NonNull;
+//
+//import com.acmerobotics.dashboard.config.Config;
+//import com.acmerobotics.roadrunner.geometry.Pose2d;
+//import com.acmerobotics.roadrunner.localization.ThreeTrackingWheelLocalizer;
+//import com.qualcomm.robotcore.hardware.DcMotorEx;
+//import com.qualcomm.robotcore.hardware.HardwareMap;
+//
+//import java.util.Arrays;
+//import java.util.List;
+//
+///*
+// * Sample tracking wheel localizer implementation assuming the standard configuration:
+// *
+// * left on robot is y pos
+// *
+// * front of robot is x pos
+// *
+// *    /--------------\
+// *    |     ____     |
+// *    |     ----     |
+// *    | ||        || |
+// *    | ||        || |
+// *    |              |
+// *    |              |
+// *    \--------------/
+// *
+// */
+//
+///**
+// * This class is adapted from the Road Runner StandardTrackingWheelLocalizer class. Later, this will
+// * be replaced with a custom localizer. I made some minor changes, so I'm crediting myself as an
+// * 'author' of sorts, but really this is pretty much Road Runner's code, just moved to be local to
+// * Pedro Pathing to avoid having imports.
+// *
+// * @author Road Runner dev team
+// * @author Anyi Lin - 10158 Scott's Bots
+// * @version 1.0, 5/9/2024
+// */
+//@Config
+//public class RoadRunnerThreeWheelLocalizer extends ThreeTrackingWheelLocalizer {
+//    public static double TICKS_PER_REV = 8192;
+//    public static double WHEEL_RADIUS = 1.37795; // in
+//    public static double GEAR_RATIO = 1; // output (wheel) speed / input (encoder) speed
+//
+//    public static double X_MULTIPLIER = 0.5008239963;
+//    public static double Y_MULTIPLIER = 0.5018874659;
+//
+//    public static double leftX = -18.5/25.4 - 0.1, leftY = 164.4/25.4, rightX = -18.4/25.4 - 0.1, rightY = -159.6/25.4, strafeX = -107.9/25.4+0.25, strafeY = -1.1/25.4-0.23;
+//
+//    private RoadRunnerEncoder leftEncoder, rightEncoder, strafeEncoder;
+//
+//    private List<Integer> lastEncPositions, lastEncVels;
+//
+//    public RoadRunnerThreeWheelLocalizer(HardwareMap hardwareMap, List<Integer> lastTrackingEncPositions, List<Integer> lastTrackingEncVels) {
+//        super(Arrays.asList(
+//                new Pose2d(leftX, leftY, 0), // left
+//                new Pose2d(rightX, rightY, 0), // right
+//                new Pose2d(strafeX, strafeY,  Math.toRadians(90)) // strafe
+//        ));
+//
+//        lastEncPositions = lastTrackingEncPositions;
+//        lastEncVels = lastTrackingEncVels;
+//
+//        // TODO: redo the configs here
+//        leftEncoder = new RoadRunnerEncoder(hardwareMap.get(DcMotorEx.class, "leftRear"));
+//        rightEncoder = new RoadRunnerEncoder(hardwareMap.get(DcMotorEx.class, "rightFront"));
+//        strafeEncoder = new RoadRunnerEncoder(hardwareMap.get(DcMotorEx.class, "strafeEncoder"));
+//
+//        // TODO: reverse any encoders using Encoder.setDirection(Encoder.Direction.REVERSE)
+//        leftEncoder.setDirection(RoadRunnerEncoder.Direction.REVERSE);
+//        rightEncoder.setDirection(RoadRunnerEncoder.Direction.REVERSE);
+//        strafeEncoder.setDirection(RoadRunnerEncoder.Direction.FORWARD);
+//    }
+//
+//    public void resetHeading(double heading) {
+//        setPoseEstimate(new Pose2d(getPoseEstimate().getX(), getPoseEstimate().getY(), heading));
+//    }
+//
+//    public static double encoderTicksToInches(double ticks) {
+//        return WHEEL_RADIUS * 2 * Math.PI * GEAR_RATIO * ticks / TICKS_PER_REV;
+//    }
+//
+//    @NonNull
+//    @Override
+//    public List<Double> getWheelPositions() {
+//        int leftPos = leftEncoder.getCurrentPosition();
+//        int rightPos = rightEncoder.getCurrentPosition();
+//        int frontPos = strafeEncoder.getCurrentPosition();
+//
+//        lastEncPositions.clear();
+//        lastEncPositions.add(leftPos);
+//        lastEncPositions.add(rightPos);
+//        lastEncPositions.add(frontPos);
+//
+//        return Arrays.asList(
+//                encoderTicksToInches(leftPos) * X_MULTIPLIER,
+//                encoderTicksToInches(rightPos) * X_MULTIPLIER,
+//                encoderTicksToInches(frontPos) * Y_MULTIPLIER
+//        );
+//    }
+//
+//    @NonNull
+//    @Override
+//    public List<Double> getWheelVelocities() {
+//        int leftVel = (int) leftEncoder.getCorrectedVelocity();
+//        int rightVel = (int) rightEncoder.getCorrectedVelocity();
+//        int frontVel = (int) strafeEncoder.getCorrectedVelocity();
+//
+//        lastEncVels.clear();
+//        lastEncVels.add(leftVel);
+//        lastEncVels.add(rightVel);
+//        lastEncVels.add(frontVel);
+//
+//        return Arrays.asList(
+//                encoderTicksToInches(leftVel) * X_MULTIPLIER,
+//                encoderTicksToInches(rightVel) * X_MULTIPLIER,
+//                encoderTicksToInches(frontVel) * Y_MULTIPLIER
+//        );
+//    }
+//}

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

@@ -0,0 +1,317 @@
+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;
+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.Encoder;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Localizer;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Matrix;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
+import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
+
+/**
+ * This is the ThreeWheelIMULocalizer class. This class extends the Localizer superclass and is a
+ * localizer that uses the three wheel odometry set up with the IMU to have more accurate heading
+ * readings. The diagram below, which is modified from Road Runner, shows a typical set up.
+ *
+ * The view is from the top of the robot looking downwards.
+ *
+ * left on robot is the y positive direction
+ *
+ * forward on robot is the x positive direction
+ *
+ *    /--------------\
+ *    |     ____     |
+ *    |     ----     |
+ *    | ||        || |
+ *    | ||        || |  ----> left (y positive)
+ *    |              |
+ *    |              |
+ *    \--------------/
+ *           |
+ *           |
+ *           V
+ *    forward (x positive)
+ *
+ * @author Logan Nash
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @version 1.0, 7/9/2024
+ */
+@Config
+public class ThreeWheelIMULocalizer extends Localizer {
+    private HardwareMap hardwareMap;
+    private Pose startPose;
+    private Pose displacementPose;
+    private Pose currentVelocity;
+    private Matrix prevRotationMatrix;
+    private NanoTimer timer;
+    private long deltaTimeNano;
+    private Encoder leftEncoder;
+    private Encoder rightEncoder;
+    private Encoder strafeEncoder;
+    private Pose leftEncoderPose;
+    private Pose rightEncoderPose;
+    private Pose strafeEncoderPose;
+
+    public final IMU imu;
+    private double previousIMUOrientation;
+    private double deltaRadians;
+    private double totalHeading;
+    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;
+
+    /**
+     * This creates a new ThreeWheelIMULocalizer from a HardwareMap, with a starting Pose at (0,0)
+     * facing 0 heading.
+     *
+     * @param map the HardwareMap
+     */
+    public ThreeWheelIMULocalizer(HardwareMap map) {
+        this(map, new Pose());
+    }
+
+    /**
+     * This creates a new ThreeWheelIMULocalizer from a HardwareMap and a Pose, with the Pose
+     * specifying the starting pose of the localizer.
+     *
+     * @param map          the HardwareMap
+     * @param setStartPose the Pose to start from
+     */
+    public ThreeWheelIMULocalizer(HardwareMap map, Pose setStartPose) {
+        hardwareMap = map;
+        imu = hardwareMap.get(IMU.class, IMU);
+
+        // TODO: replace this with your IMU's orientation
+        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(-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));
+        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);
+
+        setStartPose(setStartPose);
+        timer = new NanoTimer();
+        deltaTimeNano = 1;
+        displacementPose = new Pose();
+        currentVelocity = new Pose();
+        totalHeading = 0;
+
+        resetEncoders();
+    }
+
+    /**
+     * This returns the current pose estimate.
+     *
+     * @return returns the current pose estimate as a Pose
+     */
+    @Override
+    public Pose getPose() {
+        return MathFunctions.addPoses(startPose, displacementPose);
+    }
+
+    /**
+     * This returns the current velocity estimate.
+     *
+     * @return returns the current velocity estimate as a Pose
+     */
+    @Override
+    public Pose getVelocity() {
+        return currentVelocity.copy();
+    }
+
+    /**
+     * This returns the current velocity estimate.
+     *
+     * @return returns the current velocity estimate as a Vector
+     */
+    @Override
+    public Vector getVelocityVector() {
+        return currentVelocity.getVector();
+    }
+
+    /**
+     * This sets the start pose. Changing the start pose should move the robot as if all its
+     * previous movements were displacing it from its new start pose.
+     *
+     * @param setStart the new start pose
+     */
+    @Override
+    public void setStartPose(Pose setStart) {
+        startPose = setStart;
+    }
+
+    /**
+     * This sets the Matrix that contains the previous pose's heading rotation.
+     *
+     * @param heading the rotation of the Matrix
+     */
+    public void setPrevRotationMatrix(double heading) {
+        prevRotationMatrix = new Matrix(3,3);
+        prevRotationMatrix.set(0, 0, Math.cos(heading));
+        prevRotationMatrix.set(0, 1, -Math.sin(heading));
+        prevRotationMatrix.set(1, 0, Math.sin(heading));
+        prevRotationMatrix.set(1, 1, Math.cos(heading));
+        prevRotationMatrix.set(2, 2, 1.0);
+    }
+
+    /**
+     * This sets the current pose estimate. Changing this should just change the robot's current
+     * pose estimate, not anything to do with the start pose.
+     *
+     * @param setPose the new current pose estimate
+     */
+    @Override
+    public void setPose(Pose setPose) {
+        displacementPose = MathFunctions.subtractPoses(setPose, startPose);
+        resetEncoders();
+    }
+
+    /**
+     * This updates the elapsed time timer that keeps track of time between updates, as well as the
+     * change position of the Encoders. Then, the robot's global change in position is calculated
+     * using the pose exponential method.
+     */
+    @Override
+    public void update() {
+        deltaTimeNano = timer.getElapsedTime();
+        timer.resetTimer();
+
+        updateEncoders();
+        Matrix robotDeltas = getRobotDeltas();
+        Matrix globalDeltas;
+        setPrevRotationMatrix(getPose().getHeading());
+
+        Matrix transformation = new Matrix(3,3);
+        if (Math.abs(robotDeltas.get(2, 0)) < 0.001) {
+            transformation.set(0, 0, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
+            transformation.set(0, 1, -robotDeltas.get(2, 0) / 2.0);
+            transformation.set(1, 0, robotDeltas.get(2, 0) / 2.0);
+            transformation.set(1, 1, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
+            transformation.set(2, 2, 1.0);
+        } else {
+            transformation.set(0, 0, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
+            transformation.set(0, 1, (Math.cos(robotDeltas.get(2, 0)) - 1.0) / robotDeltas.get(2, 0));
+            transformation.set(1, 0, (1.0 - Math.cos(robotDeltas.get(2, 0))) / robotDeltas.get(2, 0));
+            transformation.set(1, 1, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
+            transformation.set(2, 2, 1.0);
+        }
+
+        globalDeltas = Matrix.multiply(Matrix.multiply(prevRotationMatrix, transformation), robotDeltas);
+
+        displacementPose.add(new Pose(globalDeltas.get(0, 0), globalDeltas.get(1, 0), globalDeltas.get(2, 0)));
+        currentVelocity = new Pose(globalDeltas.get(0, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(1, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(2, 0) / (deltaTimeNano * Math.pow(10.0, 9)));
+
+        totalHeading += globalDeltas.get(2, 0);
+    }
+
+    /**
+     * This updates the Encoders.
+     */
+    public void updateEncoders() {
+        leftEncoder.update();
+        rightEncoder.update();
+        strafeEncoder.update();
+
+        double currentIMUOrientation = MathFunctions.normalizeAngle(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
+        deltaRadians = MathFunctions.getTurnDirection(previousIMUOrientation, currentIMUOrientation) * MathFunctions.getSmallestAngleDifference(currentIMUOrientation, previousIMUOrientation);
+        previousIMUOrientation = currentIMUOrientation;
+    }
+
+    /**
+     * This resets the Encoders.
+     */
+    public void resetEncoders() {
+        leftEncoder.reset();
+        rightEncoder.reset();
+        strafeEncoder.reset();
+    }
+
+    /**
+     * This calculates the change in position from the perspective of the robot using information
+     * from the Encoders.
+     *
+     * @return returns a Matrix containing the robot relative movement.
+     */
+    public Matrix getRobotDeltas() {
+        Matrix returnMatrix = new Matrix(3,1);
+        // x/forward movement
+        returnMatrix.set(0,0, FORWARD_TICKS_TO_INCHES * ((rightEncoder.getDeltaPosition() * leftEncoderPose.getY() - leftEncoder.getDeltaPosition() * rightEncoderPose.getY()) / (leftEncoderPose.getY() - rightEncoderPose.getY())));
+        //y/strafe movement
+        returnMatrix.set(1,0, STRAFE_TICKS_TO_INCHES * (strafeEncoder.getDeltaPosition() - strafeEncoderPose.getX() * ((rightEncoder.getDeltaPosition() - leftEncoder.getDeltaPosition()) / (leftEncoderPose.getY() - rightEncoderPose.getY()))));
+        // theta/turning
+        if (MathFunctions.getSmallestAngleDifference(0, deltaRadians) > 0.00005 && useIMU) {
+            returnMatrix.set(2, 0, deltaRadians);
+        } else {
+            returnMatrix.set(2,0, TURN_TICKS_TO_RADIANS * ((rightEncoder.getDeltaPosition() - leftEncoder.getDeltaPosition()) / (leftEncoderPose.getY() - rightEncoderPose.getY())));
+        }
+        return returnMatrix;
+    }
+
+    /**
+     * This returns how far the robot has turned in radians, in a number not clamped between 0 and
+     * 2 * pi radians. This is used for some tuning things and nothing actually within the following.
+     *
+     * @return returns how far the robot has turned in total, in radians.
+     */
+    public double getTotalHeading() {
+        return totalHeading;
+    }
+
+    /**
+     * This returns the multiplier applied to forward movement measurement to convert from encoder
+     * ticks to inches. This is found empirically through a tuner.
+     *
+     * @return returns the forward ticks to inches multiplier
+     */
+    public double getForwardMultiplier() {
+        return FORWARD_TICKS_TO_INCHES;
+    }
+
+    /**
+     * This returns the multiplier applied to lateral/strafe movement measurement to convert from
+     * encoder ticks to inches. This is found empirically through a tuner.
+     *
+     * @return returns the lateral/strafe ticks to inches multiplier
+     */
+    public double getLateralMultiplier() {
+        return STRAFE_TICKS_TO_INCHES;
+    }
+
+    /**
+     * This returns the multiplier applied to turning movement measurement to convert from encoder
+     * ticks to radians. This is found empirically through a tuner.
+     *
+     * @return returns the turning ticks to radians multiplier
+     */
+    public double getTurningMultiplier() {
+        return TURN_TICKS_TO_RADIANS;
+    }
+
+    /**
+     * This resets the IMU.
+     */
+    public void resetIMU() {
+        imu.resetYaw();
+    }
+}

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

@@ -0,0 +1,297 @@
+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;
+
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Encoder;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Localizer;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Matrix;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
+import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
+
+/**
+ * This is the ThreeWheelLocalizer class. This class extends the Localizer superclass and is a
+ * localizer that uses the three wheel odometry set up. The diagram below, which is modified from
+ * Road Runner, shows a typical set up.
+ *
+ * The view is from the top of the robot looking downwards.
+ *
+ * left on robot is the y positive direction
+ *
+ * forward on robot is the x positive direction
+ *
+ *    /--------------\
+ *    |     ____     |
+ *    |     ----     |
+ *    | ||        || |
+ *    | ||        || |  ----> left (y positive)
+ *    |              |
+ *    |              |
+ *    \--------------/
+ *           |
+ *           |
+ *           V
+ *    forward (x positive)
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @version 1.0, 4/2/2024
+ */
+@Config
+public class ThreeWheelLocalizer extends Localizer {
+    private HardwareMap hardwareMap;
+    private Pose startPose;
+    private Pose displacementPose;
+    private Pose currentVelocity;
+    private Matrix prevRotationMatrix;
+    private NanoTimer timer;
+    private long deltaTimeNano;
+    private Encoder leftEncoder;
+    private Encoder rightEncoder;
+    private Encoder strafeEncoder;
+    private Pose leftEncoderPose;
+    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;
+
+    /**
+     * This creates a new ThreeWheelLocalizer from a HardwareMap, with a starting Pose at (0,0)
+     * facing 0 heading.
+     *
+     * @param map the HardwareMap
+     */
+    public ThreeWheelLocalizer(HardwareMap map) {
+        this(map, new Pose());
+    }
+
+    /**
+     * This creates a new ThreeWheelLocalizer from a HardwareMap and a Pose, with the Pose
+     * specifying the starting pose of the localizer.
+     *
+     * @param map the HardwareMap
+     * @param setStartPose the Pose to start from
+     */
+    public ThreeWheelLocalizer(HardwareMap map, Pose setStartPose) {
+        // 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));
+
+        hardwareMap = map;
+
+        // 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);
+
+        setStartPose(setStartPose);
+        timer = new NanoTimer();
+        deltaTimeNano = 1;
+        displacementPose = new Pose();
+        currentVelocity = new Pose();
+        totalHeading = 0;
+
+        resetEncoders();
+    }
+
+    /**
+     * This returns the current pose estimate.
+     *
+     * @return returns the current pose estimate as a Pose
+     */
+    @Override
+    public Pose getPose() {
+        return MathFunctions.addPoses(startPose, displacementPose);
+    }
+
+    /**
+     * This returns the current velocity estimate.
+     *
+     * @return returns the current velocity estimate as a Pose
+     */
+    @Override
+    public Pose getVelocity() {
+        return currentVelocity.copy();
+    }
+
+    /**
+     * This returns the current velocity estimate.
+     *
+     * @return returns the current velocity estimate as a Vector
+     */
+    @Override
+    public Vector getVelocityVector() {
+        return currentVelocity.getVector();
+    }
+
+    /**
+     * This sets the start pose. Changing the start pose should move the robot as if all its
+     * previous movements were displacing it from its new start pose.
+     *
+     * @param setStart the new start pose
+     */
+    @Override
+    public void setStartPose(Pose setStart) {
+        startPose = setStart;
+    }
+
+    /**
+     * This sets the Matrix that contains the previous pose's heading rotation.
+     *
+     * @param heading the rotation of the Matrix
+     */
+    public void setPrevRotationMatrix(double heading) {
+        prevRotationMatrix = new Matrix(3,3);
+        prevRotationMatrix.set(0, 0, Math.cos(heading));
+        prevRotationMatrix.set(0, 1, -Math.sin(heading));
+        prevRotationMatrix.set(1, 0, Math.sin(heading));
+        prevRotationMatrix.set(1, 1, Math.cos(heading));
+        prevRotationMatrix.set(2, 2, 1.0);
+    }
+
+    /**
+     * This sets the current pose estimate. Changing this should just change the robot's current
+     * pose estimate, not anything to do with the start pose.
+     *
+     * @param setPose the new current pose estimate
+     */
+    @Override
+    public void setPose(Pose setPose) {
+        displacementPose = MathFunctions.subtractPoses(setPose, startPose);
+        resetEncoders();
+    }
+
+    /**
+     * This updates the elapsed time timer that keeps track of time between updates, as well as the
+     * change position of the Encoders. Then, the robot's global change in position is calculated
+     * using the pose exponential method.
+     */
+    @Override
+    public void update() {
+        deltaTimeNano = timer.getElapsedTime();
+        timer.resetTimer();
+
+        updateEncoders();
+        Matrix robotDeltas = getRobotDeltas();
+        Matrix globalDeltas;
+        setPrevRotationMatrix(getPose().getHeading());
+
+        Matrix transformation = new Matrix(3,3);
+        if (Math.abs(robotDeltas.get(2, 0)) < 0.001) {
+            transformation.set(0, 0, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
+            transformation.set(0, 1, -robotDeltas.get(2, 0) / 2.0);
+            transformation.set(1, 0, robotDeltas.get(2, 0) / 2.0);
+            transformation.set(1, 1, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
+            transformation.set(2, 2, 1.0);
+        } else {
+            transformation.set(0, 0, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
+            transformation.set(0, 1, (Math.cos(robotDeltas.get(2, 0)) - 1.0) / robotDeltas.get(2, 0));
+            transformation.set(1, 0, (1.0 - Math.cos(robotDeltas.get(2, 0))) / robotDeltas.get(2, 0));
+            transformation.set(1, 1, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
+            transformation.set(2, 2, 1.0);
+        }
+
+        globalDeltas = Matrix.multiply(Matrix.multiply(prevRotationMatrix, transformation), robotDeltas);
+
+        displacementPose.add(new Pose(globalDeltas.get(0, 0), globalDeltas.get(1, 0), globalDeltas.get(2, 0)));
+        currentVelocity = new Pose(globalDeltas.get(0, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(1, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(2, 0) / (deltaTimeNano * Math.pow(10.0, 9)));
+
+        totalHeading += globalDeltas.get(2, 0);
+    }
+
+    /**
+     * This updates the Encoders.
+     */
+    public void updateEncoders() {
+        leftEncoder.update();
+        rightEncoder.update();
+        strafeEncoder.update();
+    }
+
+    /**
+     * This resets the Encoders.
+     */
+    public void resetEncoders() {
+        leftEncoder.reset();
+        rightEncoder.reset();
+        strafeEncoder.reset();
+    }
+
+    /**
+     * This calculates the change in position from the perspective of the robot using information
+     * from the Encoders.
+     *
+     * @return returns a Matrix containing the robot relative movement.
+     */
+    public Matrix getRobotDeltas() {
+        Matrix returnMatrix = new Matrix(3,1);
+        // x/forward movement
+        returnMatrix.set(0,0, FORWARD_TICKS_TO_INCHES * ((rightEncoder.getDeltaPosition() * leftEncoderPose.getY() - leftEncoder.getDeltaPosition() * rightEncoderPose.getY()) / (leftEncoderPose.getY() - rightEncoderPose.getY())));
+        //y/strafe movement
+        returnMatrix.set(1,0, STRAFE_TICKS_TO_INCHES * (strafeEncoder.getDeltaPosition() - strafeEncoderPose.getX() * ((rightEncoder.getDeltaPosition() - leftEncoder.getDeltaPosition()) / (leftEncoderPose.getY() - rightEncoderPose.getY()))));
+        // theta/turning
+        returnMatrix.set(2,0, TURN_TICKS_TO_RADIANS * ((rightEncoder.getDeltaPosition() - leftEncoder.getDeltaPosition()) / (leftEncoderPose.getY() - rightEncoderPose.getY())));
+        return returnMatrix;
+    }
+
+    /**
+     * This returns how far the robot has turned in radians, in a number not clamped between 0 and
+     * 2 * pi radians. This is used for some tuning things and nothing actually within the following.
+     *
+     * @return returns how far the robot has turned in total, in radians.
+     */
+    public double getTotalHeading() {
+        return totalHeading;
+    }
+
+    /**
+     * This returns the multiplier applied to forward movement measurement to convert from encoder
+     * ticks to inches. This is found empirically through a tuner.
+     *
+     * @return returns the forward ticks to inches multiplier
+     */
+    public double getForwardMultiplier() {
+        return FORWARD_TICKS_TO_INCHES;
+    }
+
+    /**
+     * This returns the multiplier applied to lateral/strafe movement measurement to convert from
+     * encoder ticks to inches. This is found empirically through a tuner.
+     *
+     * @return returns the lateral/strafe ticks to inches multiplier
+     */
+    public double getLateralMultiplier() {
+        return STRAFE_TICKS_TO_INCHES;
+    }
+
+    /**
+     * This returns the multiplier applied to turning movement measurement to convert from encoder
+     * ticks to radians. This is found empirically through a tuner.
+     *
+     * @return returns the turning ticks to radians multiplier
+     */
+    public double getTurningMultiplier() {
+        return TURN_TICKS_TO_RADIANS;
+    }
+
+    /**
+     * This does nothing since this localizer does not use the IMU.
+     */
+    public void resetIMU() {
+    }
+}

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

@@ -0,0 +1,302 @@
+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;
+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.Encoder;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Localizer;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Matrix;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.Pose;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.MathFunctions;
+import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Vector;
+import org.firstinspires.ftc.teamcode.pedroPathing.util.NanoTimer;
+
+/**
+ * This is the TwoWheelLocalizer class. This class extends the Localizer superclass and is a
+ * localizer that uses the two wheel odometry with IMU set up. The diagram below, which is modified from
+ * Road Runner, shows a typical set up.
+ *
+ * The view is from the top of the robot looking downwards.
+ *
+ * left on robot is the y positive direction
+ *
+ * forward on robot is the x positive direction
+ *
+ *    /--------------\
+ *    |     ____     |
+ *    |     ----     |
+ *    | ||        || |
+ *    | ||        || |  ----> left (y positive)
+ *    |              |
+ *    |              |
+ *    \--------------/
+ *           |
+ *           |
+ *           V
+ *    forward (x positive)
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @version 1.0, 4/2/2024
+ */
+@Config
+public class TwoWheelLocalizer extends Localizer { // todo: make two wheel odo work
+    private HardwareMap hardwareMap;
+    private IMU imu;
+    private Pose startPose;
+    private Pose displacementPose;
+    private Pose currentVelocity;
+    private Matrix prevRotationMatrix;
+    private NanoTimer timer;
+    private long deltaTimeNano;
+    private Encoder forwardEncoder;
+    private Encoder strafeEncoder;
+    private Pose forwardEncoderPose;
+    private Pose strafeEncoderPose;
+    private double previousIMUOrientation;
+    private double deltaRadians;
+    private double totalHeading;
+    public static double FORWARD_TICKS_TO_INCHES = 8192 * 1.37795 * 2 * Math.PI * 0.5008239963;
+    public static double STRAFE_TICKS_TO_INCHES = 8192 * 1.37795 * 2 * Math.PI * 0.5018874659;
+
+    /**
+     * This creates a new TwoWheelLocalizer from a HardwareMap, with a starting Pose at (0,0)
+     * facing 0 heading.
+     *
+     * @param map the HardwareMap
+     */
+    public TwoWheelLocalizer(HardwareMap map) {
+        this(map, new Pose());
+    }
+
+    /**
+     * This creates a new TwoWheelLocalizer from a HardwareMap and a Pose, with the Pose
+     * specifying the starting pose of the localizer.
+     *
+     * @param map the HardwareMap
+     * @param setStartPose the Pose to start from
+     */
+    public TwoWheelLocalizer(HardwareMap map, Pose setStartPose) {
+        // TODO: replace these with your encoder positions
+        forwardEncoderPose = new Pose(-18.5/25.4 - 0.1, 164.4/25.4, 0);
+        strafeEncoderPose = new Pose(-107.9/25.4+0.25, -1.1/25.4-0.23, Math.toRadians(90));
+
+        hardwareMap = map;
+
+        imu = hardwareMap.get(IMU.class, "imu");
+        // TODO: replace this with your IMU's orientation
+        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, LEFT_ENCODER));
+        strafeEncoder = new Encoder(hardwareMap.get(DcMotorEx.class, BACK_ENCODER));
+
+        // TODO: reverse any encoders necessary
+        forwardEncoder.setDirection(Encoder.REVERSE);
+        strafeEncoder.setDirection(Encoder.FORWARD);
+
+        setStartPose(setStartPose);
+        timer = new NanoTimer();
+        deltaTimeNano = 1;
+        displacementPose = new Pose();
+        currentVelocity = new Pose();
+
+        previousIMUOrientation = MathFunctions.normalizeAngle(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
+        deltaRadians = 0;
+    }
+
+    /**
+     * This returns the current pose estimate.
+     *
+     * @return returns the current pose estimate as a Pose
+     */
+    @Override
+    public Pose getPose() {
+        return MathFunctions.addPoses(startPose, displacementPose);
+    }
+
+    /**
+     * This returns the current velocity estimate.
+     *
+     * @return returns the current velocity estimate as a Pose
+     */
+    @Override
+    public Pose getVelocity() {
+        return currentVelocity.copy();
+    }
+
+    /**
+     * This returns the current velocity estimate.
+     *
+     * @return returns the current velocity estimate as a Vector
+     */
+    @Override
+    public Vector getVelocityVector() {
+        return currentVelocity.getVector();
+    }
+
+    /**
+     * This sets the start pose. Changing the start pose should move the robot as if all its
+     * previous movements were displacing it from its new start pose.
+     *
+     * @param setStart the new start pose
+     */
+    @Override
+    public void setStartPose(Pose setStart) {
+        startPose = setStart;
+    }
+
+    /**
+     * This sets the Matrix that contains the previous pose's heading rotation.
+     *
+     * @param heading the rotation of the Matrix
+     */
+    public void setPrevRotationMatrix(double heading) {
+        prevRotationMatrix = new Matrix(3,3);
+        prevRotationMatrix.set(0, 0, Math.cos(heading));
+        prevRotationMatrix.set(0, 1, -Math.sin(heading));
+        prevRotationMatrix.set(1, 0, Math.sin(heading));
+        prevRotationMatrix.set(1, 1, Math.cos(heading));
+        prevRotationMatrix.set(2, 2, 1.0);
+    }
+
+    /**
+     * This sets the current pose estimate. Changing this should just change the robot's current
+     * pose estimate, not anything to do with the start pose.
+     *
+     * @param setPose the new current pose estimate
+     */
+    @Override
+    public void setPose(Pose setPose) {
+        displacementPose = MathFunctions.subtractPoses(setPose, startPose);
+        resetEncoders();
+    }
+
+    /**
+     * This updates the elapsed time timer that keeps track of time between updates, as well as the
+     * change position of the Encoders and the IMU readings. Then, the robot's global change in
+     * position is calculated using the pose exponential method.
+     */
+    @Override
+    public void update() {
+        deltaTimeNano = timer.getElapsedTime();
+        timer.resetTimer();
+
+        updateEncoders();
+        Matrix robotDeltas = getRobotDeltas();
+        Matrix globalDeltas;
+        setPrevRotationMatrix(getPose().getHeading());
+
+        Matrix transformation = new Matrix(3,3);
+        if (Math.abs(robotDeltas.get(2, 0)) < 0.001) {
+            transformation.set(0, 0, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
+            transformation.set(0, 1, -robotDeltas.get(2, 0) / 2.0);
+            transformation.set(1, 0, robotDeltas.get(2, 0) / 2.0);
+            transformation.set(1, 1, 1.0 - (Math.pow(robotDeltas.get(2, 0), 2) / 6.0));
+            transformation.set(2, 2, 1.0);
+        } else {
+            transformation.set(0, 0, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
+            transformation.set(0, 1, (Math.cos(robotDeltas.get(2, 0)) - 1.0) / robotDeltas.get(2, 0));
+            transformation.set(1, 0, (1.0 - Math.cos(robotDeltas.get(2, 0))) / robotDeltas.get(2, 0));
+            transformation.set(1, 1, Math.sin(robotDeltas.get(2, 0)) / robotDeltas.get(2, 0));
+            transformation.set(2, 2, 1.0);
+        }
+
+        globalDeltas = Matrix.multiply(Matrix.multiply(prevRotationMatrix, transformation), robotDeltas);
+
+        displacementPose.add(new Pose(globalDeltas.get(0, 0), globalDeltas.get(1, 0), globalDeltas.get(2, 0)));
+        currentVelocity = new Pose(globalDeltas.get(0, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(1, 0) / (deltaTimeNano * Math.pow(10.0, 9)), globalDeltas.get(2, 0) / (deltaTimeNano * Math.pow(10.0, 9)));
+
+        totalHeading += globalDeltas.get(2, 0);
+    }
+
+    /**
+     * This updates the Encoders as well as the IMU.
+     */
+    public void updateEncoders() {
+        forwardEncoder.update();
+        strafeEncoder.update();
+
+        double currentIMUOrientation = MathFunctions.normalizeAngle(imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.RADIANS));
+        deltaRadians = MathFunctions.getTurnDirection(previousIMUOrientation, currentIMUOrientation) * MathFunctions.getSmallestAngleDifference(currentIMUOrientation, previousIMUOrientation);
+        previousIMUOrientation = currentIMUOrientation;
+    }
+
+    /**
+     * This resets the Encoders.
+     */
+    public void resetEncoders() {
+        forwardEncoder.reset();
+        strafeEncoder.reset();
+    }
+
+    /**
+     * This calculates the change in position from the perspective of the robot using information
+     * from the Encoders and IMU.
+     *
+     * @return returns a Matrix containing the robot relative movement.
+     */
+    public Matrix getRobotDeltas() {
+        Matrix returnMatrix = new Matrix(3,1);
+        // x/forward movement
+        returnMatrix.set(0,0, FORWARD_TICKS_TO_INCHES * (forwardEncoder.getDeltaPosition() - forwardEncoderPose.getY() * deltaRadians));
+        //y/strafe movement
+        returnMatrix.set(1,0, STRAFE_TICKS_TO_INCHES * (strafeEncoder.getDeltaPosition() - strafeEncoderPose.getX() * deltaRadians));
+        // theta/turning
+        returnMatrix.set(2,0, deltaRadians);
+        return returnMatrix;
+    }
+
+    /**
+     * This returns how far the robot has turned in radians, in a number not clamped between 0 and
+     * 2 * pi radians. This is used for some tuning things and nothing actually within the following.
+     *
+     * @return returns how far the robot has turned in total, in radians.
+     */
+    public double getTotalHeading() {
+        return totalHeading;
+    }
+
+    /**
+     * This returns the multiplier applied to forward movement measurement to convert from encoder
+     * ticks to inches. This is found empirically through a tuner.
+     *
+     * @return returns the forward ticks to inches multiplier
+     */
+    public double getForwardMultiplier() {
+        return FORWARD_TICKS_TO_INCHES;
+    }
+
+    /**
+     * This returns the multiplier applied to lateral/strafe movement measurement to convert from
+     * encoder ticks to inches. This is found empirically through a tuner.
+     *
+     * @return returns the lateral/strafe ticks to inches multiplier
+     */
+    public double getLateralMultiplier() {
+        return STRAFE_TICKS_TO_INCHES;
+    }
+
+    /**
+     * This returns the multiplier applied to turning movement measurement to convert from encoder
+     * ticks to radians. This is found empirically through a tuner.
+     *
+     * @return returns the turning ticks to radians multiplier
+     */
+    public double getTurningMultiplier() {
+        return 1;
+    }
+
+    /**
+     * This resets the IMU.
+     */
+    public void resetIMU() {
+        imu.resetYaw();
+    }
+}

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

@@ -0,0 +1,72 @@
+package org.firstinspires.ftc.teamcode.pedroPathing.localization.tuning;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+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.localization.PoseUpdater;
+import org.firstinspires.ftc.teamcode.pedroPathing.util.DashboardPoseTracker;
+import org.firstinspires.ftc.teamcode.pedroPathing.util.Drawing;
+
+/**
+ * This is the ForwardTuner OpMode. This tracks the forward movement of the robot and displays the
+ * necessary ticks to inches multiplier. This displayed multiplier is what's necessary to scale the
+ * robot's current distance in ticks to the specified distance in inches. So, to use this, run the
+ * tuner, then pull/push the robot to the specified distance using a ruler on the ground. When you're
+ * at the end of the distance, record the ticks to inches multiplier. Feel free to run multiple trials
+ * and average the results. Then, input the multiplier into the forward ticks to inches in your
+ * localizer of choice.
+ * You can adjust the target distance on FTC Dashboard: 192/168/43/1:8080/dash
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @version 1.0, 5/6/2024
+ */
+@Config
+@Autonomous(name = "Forward Localizer Tuner", group = "Autonomous Pathing Tuning")
+public class FowardTuner extends OpMode {
+    private PoseUpdater poseUpdater;
+    private DashboardPoseTracker dashboardPoseTracker;
+
+    private Telemetry telemetryA;
+
+    public static double DISTANCE = 30;
+
+    /**
+     * This initializes the PoseUpdater as well as the FTC Dashboard telemetry.
+     */
+    @Override
+    public void init() {
+        poseUpdater = new PoseUpdater(hardwareMap);
+
+        dashboardPoseTracker = new DashboardPoseTracker(poseUpdater);
+
+        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+        telemetryA.addLine("Pull your robot forward " + DISTANCE + " inches. Your forward ticks to inches will be shown on the telemetry.");
+        telemetryA.update();
+
+        Drawing.drawRobot(poseUpdater.getPose(), "#4CAF50");
+        Drawing.sendPacket();
+    }
+
+    /**
+     * This updates the robot's pose estimate, and updates the FTC Dashboard telemetry with the
+     * calculated multiplier and draws the robot.
+     */
+    @Override
+    public void loop() {
+        poseUpdater.update();
+
+        telemetryA.addData("distance moved", poseUpdater.getPose().getX());
+        telemetryA.addLine("The multiplier will display what your forward ticks to inches should be to scale your current distance to " + DISTANCE + " inches.");
+        telemetryA.addData("multiplier", DISTANCE / (poseUpdater.getPose().getX() / poseUpdater.getLocalizer().getForwardMultiplier()));
+        telemetryA.update();
+
+        Drawing.drawPoseHistory(dashboardPoseTracker, "#4CAF50");
+        Drawing.drawRobot(poseUpdater.getPose(), "#4CAF50");
+        Drawing.sendPacket();
+    }
+}

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

@@ -0,0 +1,73 @@
+package org.firstinspires.ftc.teamcode.pedroPathing.localization.tuning;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+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.localization.PoseUpdater;
+import org.firstinspires.ftc.teamcode.pedroPathing.util.DashboardPoseTracker;
+import org.firstinspires.ftc.teamcode.pedroPathing.util.Drawing;
+
+/**
+ * This is the LateralTuner OpMode. This tracks the strafe movement of the robot and displays the
+ * necessary ticks to inches multiplier. This displayed multiplier is what's necessary to scale the
+ * robot's current distance in ticks to the specified distance in inches. So, to use this, run the
+ * tuner, then pull/push the robot to the specified distance using a ruler on the ground. When you're
+ * at the end of the distance, record the ticks to inches multiplier. Feel free to run multiple trials
+ * and average the results. Then, input the multiplier into the strafe ticks to inches in your
+ * localizer of choice.
+ * You can adjust the target distance on FTC Dashboard: 192/168/43/1:8080/dash
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @version 1.0, 5/6/2024
+ */
+@Config
+@Autonomous(name = "Lateral Localizer Tuner", group = "Autonomous Pathing Tuning")
+public class LateralTuner extends OpMode {
+    private PoseUpdater poseUpdater;
+    private DashboardPoseTracker dashboardPoseTracker;
+
+    private Telemetry telemetryA;
+
+    public static double DISTANCE = 30;
+
+    /**
+     * This initializes the PoseUpdater as well as the FTC Dashboard telemetry.
+     */
+    @Override
+    public void init() {
+        poseUpdater = new PoseUpdater(hardwareMap);
+
+        dashboardPoseTracker = new DashboardPoseTracker(poseUpdater);
+
+        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+        telemetryA.addLine("Pull your robot to the right " + DISTANCE + " inches. Your strafe ticks to inches will be shown on the telemetry.");
+        telemetryA.update();
+
+        Drawing.drawRobot(poseUpdater.getPose(), "#4CAF50");
+        Drawing.sendPacket();
+    }
+
+    /**
+     * This updates the robot's pose estimate, and updates the FTC Dashboard telemetry with the
+     * calculated multiplier and draws the robot.
+     */
+    @Override
+    public void loop() {
+        poseUpdater.update();
+
+        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");
+        Drawing.drawRobot(poseUpdater.getPose(), "#4CAF50");
+        Drawing.sendPacket();
+    }
+}

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

@@ -0,0 +1,122 @@
+package org.firstinspires.ftc.teamcode.pedroPathing.localization.tuning;
+
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftFrontMotorName;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.leftRearMotorName;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightFrontMotorName;
+import static org.firstinspires.ftc.teamcode.pedroPathing.tuning.FollowerConstants.rightRearMotorName;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.OpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.teamcode.pedroPathing.localization.PoseUpdater;
+import org.firstinspires.ftc.teamcode.pedroPathing.util.DashboardPoseTracker;
+import org.firstinspires.ftc.teamcode.pedroPathing.util.Drawing;
+
+import java.util.Arrays;
+import java.util.List;
+
+/**
+ * This is the LocalizationTest OpMode. This is basically just a simple mecanum drive attached to a
+ * PoseUpdater. The OpMode will print out the robot's pose to telemetry as well as draw the robot
+ * on FTC Dashboard (192/168/43/1:8080/dash). You should use this to check the robot's localization.
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @version 1.0, 5/6/2024
+ */
+@Config
+@TeleOp(group = "Pedro Pathing Tuning", name = "Localization Test")
+public class LocalizationTest extends OpMode {
+    private PoseUpdater poseUpdater;
+    private DashboardPoseTracker dashboardPoseTracker;
+    private Telemetry telemetryA;
+
+    private DcMotorEx leftFront;
+    private DcMotorEx leftRear;
+    private DcMotorEx rightFront;
+    private DcMotorEx rightRear;
+    private List<DcMotorEx> motors;
+
+    /**
+     * This initializes the PoseUpdater, the mecanum drive motors, and the FTC Dashboard telemetry.
+     */
+    @Override
+    public void init() {
+        poseUpdater = new PoseUpdater(hardwareMap);
+
+        dashboardPoseTracker = new DashboardPoseTracker(poseUpdater);
+
+        leftFront = hardwareMap.get(DcMotorEx.class, leftFrontMotorName);
+        leftRear = hardwareMap.get(DcMotorEx.class, leftRearMotorName);
+        rightRear = hardwareMap.get(DcMotorEx.class, rightRearMotorName);
+        rightFront = hardwareMap.get(DcMotorEx.class, rightFrontMotorName);
+
+        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+        leftRear.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        motors = Arrays.asList(leftFront, leftRear, rightFront, rightRear);
+
+        for (DcMotorEx motor : motors) {
+            MotorConfigurationType motorConfigurationType = motor.getMotorType().clone();
+            motorConfigurationType.setAchieveableMaxRPMFraction(1.0);
+            motor.setMotorType(motorConfigurationType);
+        }
+
+        for (DcMotorEx motor : motors) {
+            motor.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.FLOAT);
+        }
+
+        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+        telemetryA.addLine("This will print your robot's position to telemetry while "
+                + "allowing robot control through a basic mecanum drive on gamepad 1.");
+        telemetryA.update();
+
+        Drawing.drawRobot(poseUpdater.getPose(), "#4CAF50");
+        Drawing.sendPacket();
+    }
+
+    /**
+     * This updates the robot's pose estimate, the simple mecanum drive, and updates the FTC
+     * Dashboard telemetry with the robot's position as well as draws the robot's position.
+     */
+    @Override
+    public void loop() {
+        poseUpdater.update();
+        dashboardPoseTracker.update();
+
+        double y = -gamepad1.left_stick_y; // Remember, this is reversed!
+        double x = gamepad1.left_stick_x; // this is strafing
+        double rx = gamepad1.right_stick_x;
+
+        // Denominator is the largest motor power (absolute value) or 1
+        // This ensures all the powers maintain the same ratio, but only when
+        // at least one is out of the range [-1, 1]
+        double denominator = Math.max(Math.abs(y) + Math.abs(x) + Math.abs(rx), 1);
+        double leftFrontPower = (y + x + rx) / denominator;
+        double leftRearPower = (y - x + rx) / denominator;
+        double rightFrontPower = (y - x - rx) / denominator;
+        double rightRearPower = (y + x - rx) / denominator;
+
+        leftFront.setPower(leftFrontPower);
+        leftRear.setPower(leftRearPower);
+        rightFront.setPower(rightFrontPower);
+        rightRear.setPower(rightRearPower);
+
+        telemetryA.addData("x", poseUpdater.getPose().getX());
+        telemetryA.addData("y", poseUpdater.getPose().getY());
+        telemetryA.addData("heading", poseUpdater.getPose().getHeading());
+        telemetryA.addData("total heading", poseUpdater.getTotalHeading());
+        telemetryA.update();
+
+        Drawing.drawPoseHistory(dashboardPoseTracker, "#4CAF50");
+        Drawing.drawRobot(poseUpdater.getPose(), "#4CAF50");
+        Drawing.sendPacket();
+    }
+}

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

@@ -0,0 +1,71 @@
+package org.firstinspires.ftc.teamcode.pedroPathing.localization.tuning;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
+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.localization.PoseUpdater;
+import org.firstinspires.ftc.teamcode.pedroPathing.util.DashboardPoseTracker;
+import org.firstinspires.ftc.teamcode.pedroPathing.util.Drawing;
+
+/**
+ * This is the TurnTuner OpMode. This tracks the turning movement of the robot and displays the
+ * necessary ticks to inches multiplier. This displayed multiplier is what's necessary to scale the
+ * robot's current angle in ticks to the specified angle in radians. So, to use this, run the
+ * tuner, then pull/push the robot to the specified angle using a protractor or lines on the ground.
+ * When you're at the end of the angle, record the ticks to inches multiplier. Feel free to run
+ * multiple trials and average the results. Then, input the multiplier into the turning ticks to
+ * radians in your localizer of choice.
+ * You can adjust the target angle on FTC Dashboard: 192/168/43/1:8080/dash
+ *
+ * @author Anyi Lin - 10158 Scott's Bots
+ * @version 1.0, 5/6/2024
+ */
+@Config
+@Autonomous(name = "Turn Localizer Tuner", group = "Autonomous Pathing Tuning")
+public class TurnTuner extends OpMode {
+    private PoseUpdater poseUpdater;
+    private DashboardPoseTracker dashboardPoseTracker;
+
+    private Telemetry telemetryA;
+
+    public static double ANGLE = 2 * Math.PI;
+
+    /**
+     * This initializes the PoseUpdater as well as the FTC Dashboard telemetry.
+     */
+    @Override
+    public void init() {
+        poseUpdater = new PoseUpdater(hardwareMap);
+
+        dashboardPoseTracker = new DashboardPoseTracker(poseUpdater);
+
+        telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());
+        telemetryA.addLine("Turn your robot " + ANGLE + " radians. Your turn ticks to inches will be shown on the telemetry.");
+        telemetryA.update();
+
+        Drawing.drawRobot(poseUpdater.getPose(), "#4CAF50");
+        Drawing.sendPacket();
+    }
+
+    /**
+     * This updates the robot's pose estimate, and updates the FTC Dashboard telemetry with the
+     * calculated multiplier and draws the robot.
+     */
+    @Override
+    public void loop() {
+        poseUpdater.update();
+
+        telemetryA.addData("total angle", poseUpdater.getTotalHeading());
+        telemetryA.addLine("The multiplier will display what your turn ticks to inches should be to scale your current angle to " + ANGLE + " radians.");
+        telemetryA.addData("multiplier", ANGLE / (poseUpdater.getTotalHeading() / poseUpdater.getLocalizer().getTurningMultiplier()));
+
+        Drawing.drawPoseHistory(dashboardPoseTracker, "#4CAF50");
+        Drawing.drawRobot(poseUpdater.getPose(), "#4CAF50");
+        Drawing.sendPacket();
+    }
+}