Merge remote-tracking branch 'origin/master'

.idea/jarRepositories.xml

@@ -26,5 +26,10 @@
       <option name="name" value="Google" />
       <option name="url" value="https://dl.google.com/dl/android/maven2/" />
     </remote-repository>
+    <remote-repository>
+      <option name="id" value="maven" />
+      <option name="name" value="maven" />
+      <option name="url" value="https://maven.brott.dev/" />
+    </remote-repository>
   </component>
 </project>

TeamCode/build.gradle

@@ -20,8 +20,14 @@ android {
     buildFeatures {
         mlModelBinding true
     }
+    androidResources {
+        noCompress 'tflite'
+    }
 
     packagingOptions {
+        jniLibs {
+            pickFirsts += ['**/*.so']
+        }
         jniLibs.useLegacyPackaging true
     }
 }

TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftSideAutonomousEngine.java

@@ -1,6 +1,7 @@
 package org.timecrafters.Autonomous.Engines;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
 import org.timecrafters.Autonomous.States.BottomArm;
@@ -16,6 +17,7 @@ import org.timecrafters.Autonomous.States.TopArm;
 import org.timecrafters.TeleOp.states.PhoenixBot1;
 
 @Autonomous (name = "Left Side")
+@Disabled
 
 public class LeftSideAutonomousEngine extends CyberarmEngine {
     PhoenixBot1 robot;

TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/LeftTwoConeAutonomousEngine.java

@@ -0,0 +1,186 @@
+package org.timecrafters.Autonomous.Engines;
+
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+import org.timecrafters.Autonomous.States.BottomArm;
+import org.timecrafters.Autonomous.States.CollectorDistanceState;
+import org.timecrafters.Autonomous.States.CollectorState;
+import org.timecrafters.Autonomous.States.ConeIdentification;
+import org.timecrafters.Autonomous.States.DriverParkPlaceState;
+import org.timecrafters.Autonomous.States.DriverStateWithOdometer;
+import org.timecrafters.Autonomous.States.JunctionAllignmentAngleState;
+import org.timecrafters.Autonomous.States.JunctionAllignmentDistanceState;
+import org.timecrafters.Autonomous.States.PathDecision;
+import org.timecrafters.Autonomous.States.RotationState;
+import org.timecrafters.Autonomous.States.ServoCameraRotate;
+import org.timecrafters.Autonomous.States.TopArm;
+import org.timecrafters.TeleOp.states.PhoenixBot1;
+
+@Autonomous (name = "left 2 cone auto")
+
+public class LeftTwoConeAutonomousEngine extends CyberarmEngine {
+    PhoenixBot1 robot;
+
+    @Override
+    public void setup() {
+        robot = new PhoenixBot1(this);
+
+        // 1 Rotate camera down at the signal
+        addState(new ServoCameraRotate(robot, "LeftTwoCone", "01-0"));
+
+        // 2 Scan custom image
+        addState(new ConeIdentification(robot, "LeftTwoCone", "02-0"));
+
+        // 3 Rotate Camera up, out of the way so it doesn't crash into stuff
+        addState(new ServoCameraRotate(robot, "LeftTwoCone", "03-0"));
+
+        // 4 Drive to the tall Pole (not all the way) while raising upper arm, this will be parallel
+        addState(new DriverStateWithOdometer(robot, "LeftTwoCone", "04-0"));
+//        addParallelStateToLastState(new TopArm(robot, "LeftTwoCone", "04-1"));
+        addState(new TopArm(robot, "LeftTwoCone", "04-1"));
+        // 6 Raise lower arm while slowly driving at the junction (parallel state)
+        addState(new BottomArm(robot, "LeftTwoCone", "05-0"));
+
+        // 6 Turn Towards and look for junction with sensor
+        addState(new RotationState(robot, "LeftTwoCone", "06-0"));
+
+        // 6-1 drive forward or backwards if needed this is customizable so we can adapt
+        addState(new DriverStateWithOdometer(robot, "LeftTwoCone", "06-1"));
+
+        // 6-3 align to junction with rotation or skip if it looks like it won't be able to
+        addState(new JunctionAllignmentDistanceState(robot, "LeftTwoCone", "06-3"));
+        addState(new JunctionAllignmentAngleState(robot, "LeftTwoCone", "06-4"));
+
+        //pause
+        addState(new BottomArm(robot, "LeftTwoCone", "06-2"));
+
+
+        // 7 Drop bottom arm down on the junction to place cone
+        addState(new BottomArm(robot, "LeftTwoCone", "07-0"));
+        addParallelStateToLastState(new TopArm(robot, "LeftTwoCone", "07-1"));
+
+        // 7-1 drive back slightly
+        addState(new DriverStateWithOdometer(robot, "LeftTwoCone", "07-2"));
+
+        // 8 Drop cone as soon as arm is in position
+        addState(new CollectorState(robot, "LeftTwoCone", "08-0"));
+        // 8-1 drive back to lose contact
+        addState(new DriverStateWithOdometer(robot, "LeftTwoCone", "08-1"));
+        // 8-1 realign to old angle
+        addState(new RotationState(robot, "LeftTwoCone", "08-2"));
+
+        // 9 Raise bottom arm to clear junction
+        addParallelStateToLastState(new BottomArm(robot, "LeftTwoCone", "09-0"));
+        addParallelStateToLastState(new TopArm(robot, "LeftTwoCone", "09-1"));
+
+//        // 10 Back up and bring lower arm down (parallel state)
+        addState(new DriverStateWithOdometer(robot, "LeftTwoCone", "10-0"));
+        addParallelStateToLastState(new BottomArm(robot, "LeftTwoCone", "10-1"));
+
+        // 11 Rotate towards stack
+        addState(new RotationState(robot, "LeftTwoCone", "11-0"));
+//
+        // 12 Bring upper arm to the correct position for the top cone on stack (check with distance sensor)
+        addState(new TopArm(robot, "LeftTwoCone", "12-0"));
+
+        // drive forward at the stack without sensor
+        addState(new DriverStateWithOdometer(robot, "LeftTwoCone", "12-1"));
+
+        // turn and align at stack
+        addState(new RotationState(robot, "LeftTwoCone", "12-2"));
+
+//
+        // 13 Drive at stack while collecting and check to see when we grab it
+        addState(new CollectorDistanceState(robot, "LeftTwoCone", "13-0"));
+
+
+//
+//        // 14 Back up and raise arm
+        addState(new DriverStateWithOdometer(robot, "LeftTwoCone", "14-0"));
+        addState(new TopArm(robot, "LeftTwoCone", "14-1"));
+
+        // 14-2 align perpendicular too the wall
+        addState(new RotationState(robot, "LeftTwoCone", "14-2"));
+//
+        // 15 Drive All the way back to the tall Junction and raise upper arm (parallel state)
+        addState(new DriverStateWithOdometer(robot, "LeftTwoCone", "15-0"));
+//
+        // 16 Rotate and use sensor to find junction
+        addState(new RotationState(robot, "LeftTwoCone", "16-0"));
+//
+        // 17 Drive Towards Junction (This is optional, idk if this is needed atm)
+        addState(new DriverStateWithOdometer(robot, "LeftTwoCone", "17-0"));
+
+//        // 18 Bring upper arm down
+        addState(new TopArm(robot, "LeftTwoCone", "18-0"));
+//
+//        // 19 Drop cone
+        addState(new CollectorState(robot, "LeftTwoCone", "19-0"));
+
+        addParallelStateToLastState(new TopArm(robot, "LeftTwoCone", "19-1"));
+
+//
+//        // 20 Bring upper arm up
+//        addState(new TopArm(robot, "LeftTwoCone", "20-0"));
+//
+//        // 21 Drive away from Junction (this is optional and only used if we use the drive forward from earlier)
+        addState(new DriverStateWithOdometer(robot, "LeftTwoCone", "21-0"));
+//
+//        // 22 Drop the Upper arm to the position of the new top cone / 4th cone and check with sensor and start driving fast to get to the stack (this is a parallel state)
+//        addState(new TopArm(robot, "LeftTwoCone", "22-0"));
+//
+//        // 23 Drive slower at the stack and run the collector to grab a 2nd cone off of the stack
+//        addState(new CollectorDistanceState(robot, "LeftTwoCone", "23-0"));
+//
+//        // 24 Drive Back and lift up all the way to position for the low junction
+//        addState(new DriverStateWithOdometer(robot, "LeftTwoCone", "24-0"));
+//        addState(new TopArm(robot, "LeftTwoCone", "24-1"));
+//
+//        // 25 Drive back faster after the cone is fully off of the stack
+//        addState(new DriverStateWithOdometer(robot, "LeftTwoCone", "25-0"));
+//
+//        // 26 Turn and look for the low junction with the distance sensor and align
+//        addState(new RotationState(robot, "LeftTwoCone", "26-0"));
+//
+//        // 27 Drive forward / backwards if you need to. (check with distance sensor)
+//        addState(new JunctionAllignmentState(robot, "LeftTwoCone", "26-1"));
+//
+//        // 28 Bring Upper arm down on junction
+//        addState(new TopArm(robot, "LeftTwoCone", "28-0"));
+//
+//        // 29 Let go of cone right after arm is in position
+//        addState(new CollectorState(robot, "LeftTwoCone", "29-0"));
+//
+//        // 30 Raise arm as soon as the cone is dropped
+//        addState(new TopArm(robot, "LeftTwoCone", "30-0"));
+//
+//        // 31 Back up / go forward (optional, only needed if we drove forwards or backwards to align to low junction
+//        addState(new DriverStateWithOdometer(robot, "LeftTwoCone", "31-0"));
+//
+//        // 32 Rotate towards Stack of cones
+        addState(new RotationState(robot, "LeftTwoCone", "32-0"));
+//
+//        // 33 Decide which path after scanning image from earlier
+        addState(new PathDecision(robot, "LeftTwoCone", "33-0"));
+//
+//        // 34 Drive backwards, forwards, or stay put
+        addState(new DriverParkPlaceState(robot, "LeftTwoCone", "34-1"));
+        addState(new DriverParkPlaceState(robot, "LeftTwoCone", "34-2"));
+        addState(new DriverParkPlaceState(robot, "LeftTwoCone", "34-3"));
+//
+//        // 35 Rotate towards alliance terminal
+        addState(new RotationState(robot, "LeftTwoCone", "35-0"));
+
+        addState(new TopArm(robot, "RightTwoCone", "36-0"));
+
+
+    }
+
+    @Override
+    public void loop() {
+        super.loop();
+
+        telemetry.addData("BlackBoard Input", blackboardGetString("parkPlace"));
+    }
+}

TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightSideAutonomousEngine.java

@@ -1,6 +1,7 @@
 package org.timecrafters.Autonomous.Engines;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
 import org.timecrafters.Autonomous.States.CollectorDistanceState;
@@ -15,6 +16,7 @@ import org.timecrafters.Autonomous.States.TopArm;
 import org.timecrafters.TeleOp.states.PhoenixBot1;
 
 @Autonomous (name = "Right Side")
+@Disabled
 
 public class RightSideAutonomousEngine extends CyberarmEngine {
     PhoenixBot1 robot;

TeamCode/src/main/java/org/timecrafters/Autonomous/Engines/RightTwoConeAutonomousEngine.java

@@ -7,6 +7,7 @@ import org.timecrafters.Autonomous.States.BottomArm;
 import org.timecrafters.Autonomous.States.CollectorDistanceState;
 import org.timecrafters.Autonomous.States.CollectorState;
 import org.timecrafters.Autonomous.States.ConeIdentification;
+import org.timecrafters.Autonomous.States.DriverParkPlaceState;
 import org.timecrafters.Autonomous.States.DriverStateWithOdometer;
 import org.timecrafters.Autonomous.States.JunctionAllignmentAngleState;
 import org.timecrafters.Autonomous.States.JunctionAllignmentDistanceState;
@@ -16,9 +17,9 @@ import org.timecrafters.Autonomous.States.ServoCameraRotate;
 import org.timecrafters.Autonomous.States.TopArm;
 import org.timecrafters.TeleOp.states.PhoenixBot1;
 
-@Autonomous (name = "4 cone auto right")
+@Autonomous (name = "Right 2 cone auto")
 
-public class RightFourConeAutonomousEngine extends CyberarmEngine {
+public class RightTwoConeAutonomousEngine extends CyberarmEngine {
     PhoenixBot1 robot;
 
     @Override
@@ -26,147 +27,153 @@ public class RightFourConeAutonomousEngine extends CyberarmEngine {
         robot = new PhoenixBot1(this);
 
         // 1 Rotate camera down at the signal
-        addState(new ServoCameraRotate(robot, "RightFourCone", "01-0"));
+        addState(new ServoCameraRotate(robot, "RightTwoCone", "01-0"));
 
         // 2 Scan custom image
-        addState(new ConeIdentification(robot, "RightFourCone", "02-0"));
+        addState(new ConeIdentification(robot, "RightTwoCone", "02-0"));
 
         // 3 Rotate Camera up, out of the way so it doesn't crash into stuff
-        addState(new ServoCameraRotate(robot, "RightFourCone", "03-0"));
+        addState(new ServoCameraRotate(robot, "RightTwoCone", "03-0"));
 
         // 4 Drive to the tall Pole (not all the way) while raising upper arm, this will be parallel
-        addState(new DriverStateWithOdometer(robot, "RightFourCone", "04-0"));
+        addState(new DriverStateWithOdometer(robot, "RightTwoCone", "04-0"));
-//        addParallelStateToLastState(new TopArm(robot, "RightFourCone", "04-1"));
+//        addParallelStateToLastState(new TopArm(robot, "RightTwoCone", "04-1"));
-        addState(new TopArm(robot, "RightFourCone", "04-1"));
+        addState(new TopArm(robot, "RightTwoCone", "04-1"));
         // 6 Raise lower arm while slowly driving at the junction (parallel state)
-        addState(new BottomArm(robot, "RightFourCone", "05-0"));
+        addState(new BottomArm(robot, "RightTwoCone", "05-0"));
 
         // 6 Turn Towards and look for junction with sensor
-        addState(new RotationState(robot, "RightFourCone", "06-0"));
+        addState(new RotationState(robot, "RightTwoCone", "06-0"));
 
         // 6-1 drive forward or backwards if needed this is customizable so we can adapt
-        addState(new DriverStateWithOdometer(robot, "RightFourCone", "06-1"));
+        addState(new DriverStateWithOdometer(robot, "RightTwoCone", "06-1"));
 
         // 6-3 align to junction with rotation or skip if it looks like it won't be able to
-        addState(new JunctionAllignmentDistanceState(robot, "RightFourCone", "06-3"));
+        addState(new JunctionAllignmentDistanceState(robot, "RightTwoCone", "06-3"));
-        addState(new JunctionAllignmentAngleState(robot, "RightFourCone", "06-4"));
+        addState(new JunctionAllignmentAngleState(robot, "RightTwoCone", "06-4"));
 
         //pause
-        addState(new BottomArm(robot, "RightFourCone", "06-2"));
+        addState(new BottomArm(robot, "RightTwoCone", "06-2"));
 
 
         // 7 Drop bottom arm down on the junction to place cone
-        addState(new BottomArm(robot, "RightFourCone", "07-0"));
+        addState(new BottomArm(robot, "RightTwoCone", "07-0"));
-        addParallelStateToLastState(new TopArm(robot, "RightFourCone", "07-1"));
+        addParallelStateToLastState(new TopArm(robot, "RightTwoCone", "07-1"));
 
         // 7-1 drive back slightly
-        addState(new DriverStateWithOdometer(robot, "RightFourCone", "07-2"));
+        addState(new DriverStateWithOdometer(robot, "RightTwoCone", "07-2"));
 
         // 8 Drop cone as soon as arm is in position
-        addState(new CollectorState(robot, "RightFourCone", "08-0"));
+        addState(new CollectorState(robot, "RightTwoCone", "08-0"));
         // 8-1 drive back to lose contact
-        addState(new DriverStateWithOdometer(robot, "RightFourCone", "08-1"));
+        addState(new DriverStateWithOdometer(robot, "RightTwoCone", "08-1"));
         // 8-1 realign to old angle
-        addState(new RotationState(robot, "RightFourCone", "08-2"));
+        addState(new RotationState(robot, "RightTwoCone", "08-2"));
 
         // 9 Raise bottom arm to clear junction
-        addParallelStateToLastState(new BottomArm(robot, "RightFourCone", "09-0"));
+        addParallelStateToLastState(new BottomArm(robot, "RightTwoCone", "09-0"));
-        addParallelStateToLastState(new TopArm(robot, "RightFourCone", "09-1"));
+        addParallelStateToLastState(new TopArm(robot, "RightTwoCone", "09-1"));
 
 //        // 10 Back up and bring lower arm down (parallel state)
-        addState(new DriverStateWithOdometer(robot, "RightFourCone", "10-0"));
+        addState(new DriverStateWithOdometer(robot, "RightTwoCone", "10-0"));
-        addParallelStateToLastState(new BottomArm(robot, "RightFourCone", "10-1"));
+        addParallelStateToLastState(new BottomArm(robot, "RightTwoCone", "10-1"));
 
         // 11 Rotate towards stack
-        addState(new RotationState(robot, "RightFourCone", "11-0"));
+        addState(new RotationState(robot, "RightTwoCone", "11-0"));
 //
         // 12 Bring upper arm to the correct position for the top cone on stack (check with distance sensor)
-        addState(new TopArm(robot, "RightFourCone", "12-0"));
+        addState(new TopArm(robot, "RightTwoCone", "12-0"));
 
         // drive forward at the stack without sensor
-        addState(new DriverStateWithOdometer(robot, "RightFourCone", "12-1"));
+        addState(new DriverStateWithOdometer(robot, "RightTwoCone", "12-1"));
 
         // turn and align at stack
-        addState(new RotationState(robot, "RightFourCone", "12-2"));
+        addState(new RotationState(robot, "RightTwoCone", "12-2"));
 
 //
         // 13 Drive at stack while collecting and check to see when we grab it
-        addState(new CollectorDistanceState(robot, "RightFourCone", "13-0"));
+        addState(new CollectorDistanceState(robot, "RightTwoCone", "13-0"));
 
 
 //
 //        // 14 Back up and raise arm
-        addState(new DriverStateWithOdometer(robot, "RightFourCone", "14-0"));
+        addState(new DriverStateWithOdometer(robot, "RightTwoCone", "14-0"));
-        addState(new TopArm(robot, "RightFourCone", "14-1"));
+        addState(new TopArm(robot, "RightTwoCone", "14-1"));
 
         // 14-2 align perpendicular too the wall
-        addState(new RotationState(robot, "RightFourCone", "14-2"));
+        addState(new RotationState(robot, "RightTwoCone", "14-2"));
 //
         // 15 Drive All the way back to the tall Junction and raise upper arm (parallel state)
-        addState(new DriverStateWithOdometer(robot, "RightFourCone", "15-0"));
+        addState(new DriverStateWithOdometer(robot, "RightTwoCone", "15-0"));
 //
         // 16 Rotate and use sensor to find junction
-        addState(new RotationState(robot, "RightFourCone", "16-0"));
+        addState(new RotationState(robot, "RightTwoCone", "16-0"));
 //
         // 17 Drive Towards Junction (This is optional, idk if this is needed atm)
-        addState(new DriverStateWithOdometer(robot, "RightFourCone", "17-0"));
+        addState(new DriverStateWithOdometer(robot, "RightTwoCone", "17-0"));
 
 //        // 18 Bring upper arm down
-        addState(new TopArm(robot, "RightFourCone", "18-0"));
+        addState(new TopArm(robot, "RightTwoCone", "18-0"));
 //
 //        // 19 Drop cone
-        addState(new CollectorState(robot, "RightFourCone", "19-0"));
+        addState(new CollectorState(robot, "RightTwoCone", "19-0"));
+
+        addParallelStateToLastState(new TopArm(robot, "RightTwoCone", "19-1"));
+
 //
 //        // 20 Bring upper arm up
-//        addState(new TopArm(robot, "RightFourCone", "20-0"));
+//        addState(new TopArm(robot, "RightTwoCone", "20-0"));
 //
 //        // 21 Drive away from Junction (this is optional and only used if we use the drive forward from earlier)
-        addState(new DriverStateWithOdometer(robot, "RightFourCone", "21-0"));
+        addState(new DriverStateWithOdometer(robot, "RightTwoCone", "21-0"));
 //
 //        // 22 Drop the Upper arm to the position of the new top cone / 4th cone and check with sensor and start driving fast to get to the stack (this is a parallel state)
-//        addState(new TopArm(robot, "RightFourCone", "22-0"));
+//        addState(new TopArm(robot, "RightTwoCone", "22-0"));
 //
 //        // 23 Drive slower at the stack and run the collector to grab a 2nd cone off of the stack
-//        addState(new CollectorDistanceState(robot, "RightFourCone", "23-0"));
+//        addState(new CollectorDistanceState(robot, "RightTwoCone", "23-0"));
 //
 //        // 24 Drive Back and lift up all the way to position for the low junction
-//        addState(new DriverStateWithOdometer(robot, "RightFourCone", "24-0"));
+//        addState(new DriverStateWithOdometer(robot, "RightTwoCone", "24-0"));
-//        addState(new TopArm(robot, "RightFourCone", "24-1"));
+//        addState(new TopArm(robot, "RightTwoCone", "24-1"));
 //
 //        // 25 Drive back faster after the cone is fully off of the stack
-//        addState(new DriverStateWithOdometer(robot, "RightFourCone", "25-0"));
+//        addState(new DriverStateWithOdometer(robot, "RightTwoCone", "25-0"));
 //
 //        // 26 Turn and look for the low junction with the distance sensor and align
-//        addState(new RotationState(robot, "RightFourCone", "26-0"));
+//        addState(new RotationState(robot, "RightTwoCone", "26-0"));
 //
 //        // 27 Drive forward / backwards if you need to. (check with distance sensor)
-//        addState(new JunctionAllignmentState(robot, "RightFourCone", "26-1"));
+//        addState(new JunctionAllignmentState(robot, "RightTwoCone", "26-1"));
 //
 //        // 28 Bring Upper arm down on junction
-//        addState(new TopArm(robot, "RightFourCone", "28-0"));
+//        addState(new TopArm(robot, "RightTwoCone", "28-0"));
 //
 //        // 29 Let go of cone right after arm is in position
-//        addState(new CollectorState(robot, "RightFourCone", "29-0"));
+//        addState(new CollectorState(robot, "RightTwoCone", "29-0"));
 //
 //        // 30 Raise arm as soon as the cone is dropped
-//        addState(new TopArm(robot, "RightFourCone", "30-0"));
+//        addState(new TopArm(robot, "RightTwoCone", "30-0"));
 //
 //        // 31 Back up / go forward (optional, only needed if we drove forwards or backwards to align to low junction
-//        addState(new DriverStateWithOdometer(robot, "RightFourCone", "31-0"));
+//        addState(new DriverStateWithOdometer(robot, "RightTwoCone", "31-0"));
 //
 //        // 32 Rotate towards Stack of cones
-        addState(new RotationState(robot, "RightFourCone", "32-0"));
+        addState(new RotationState(robot, "RightTwoCone", "32-0"));
 //
 //        // 33 Decide which path after scanning image from earlier
-        addState(new PathDecision(robot, "RightFourCone", "33-0"));
+        addState(new PathDecision(robot, "RightTwoCone", "33-0"));
 //
 //        // 34 Drive backwards, forwards, or stay put
-        addState(new DriverStateWithOdometer(robot, "RightFourCone", "34-1"));
+        addState(new DriverParkPlaceState(robot, "RightTwoCone", "34-1"));
-        addState(new DriverStateWithOdometer(robot, "RightFourCone", "34-2"));
+        addState(new DriverParkPlaceState(robot, "RightTwoCone", "34-2"));
-        addState(new DriverStateWithOdometer(robot, "RightFourCone", "34-3"));
+        addState(new DriverParkPlaceState(robot, "RightTwoCone", "34-3"));
 //
 //        // 35 Rotate towards alliance terminal
-//        addState(new RotationState(robot, "RightFourCone", "35-0"));
+        addState(new RotationState(robot, "RightTwoCone", "35-0"));
+
+        addState(new TopArm(robot, "RightTwoCone", "36-0"));
+
 
     }
 

TeamCode/src/main/java/org/timecrafters/Autonomous/States/ConeIdentification.java

@@ -89,9 +89,9 @@ public class ConeIdentification extends CyberarmState {
                     if (recognition.getConfidence() >= minimumConfidence && recognition.getConfidence() > bestConfidence) {
                         bestConfidence = recognition.getConfidence();
 
-                        if (recognition.getLabel().equals("2 Bulb")) {
+                        if (recognition.getLabel().equals("#2")) {
                             engine.blackboardSet("parkPlace", "2");
-                        } else if (recognition.getLabel().equals("3 Panel")) {
+                        } else if (recognition.getLabel().equals("#3")) {
                             engine.blackboardSet("parkPlace", "3");
 
                         } else {

TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverParkPlaceState.java

@@ -49,12 +49,12 @@ public class DriverParkPlaceState extends CyberarmState {
                     setHasFinished(true);
             }
             if (placement.equals(intendedPlacement)) {
-                double delta = traveledDistance - Math.abs(robot.frontRightDrive.getCurrentPosition());
+                double delta = traveledDistance - Math.abs(robot.OdometerEncoder.getCurrentPosition());
 
-                if (Math.abs(robot.frontRightDrive.getCurrentPosition()) <= RampUpDistance) {
+                if (Math.abs(robot.OdometerEncoder.getCurrentPosition()) <= RampUpDistance) {
                     // ramping up
-                    drivePower = (Math.abs((float) robot.frontRightDrive.getCurrentPosition()) / RampUpDistance) + 0.25;
+                    drivePower = (Math.abs((float) robot.OdometerEncoder.getCurrentPosition()) / RampUpDistance) + 0.25;
-                } else if (Math.abs(robot.frontRightDrive.getCurrentPosition()) >= delta) {
+                } else if (Math.abs(robot.OdometerEncoder.getCurrentPosition()) >= delta) {
                     // ramping down
                     drivePower = ((delta / RampDownDistance) + 0.25);
                 } else {
@@ -71,7 +71,7 @@ public class DriverParkPlaceState extends CyberarmState {
                     drivePower = drivePower * -1;
                 }
 
-                if (Math.abs(robot.frontRightDrive.getCurrentPosition()) < traveledDistance) {
+                if (Math.abs(robot.OdometerEncoder.getCurrentPosition()) < traveledDistance) {
                     robot.backLeftDrive.setPower(drivePower);
                     robot.backRightDrive.setPower(drivePower);
                     robot.frontLeftDrive.setPower(drivePower);
@@ -96,6 +96,7 @@ public class DriverParkPlaceState extends CyberarmState {
         engine.telemetry.addData("frontLeftDrive", robot.frontLeftDrive.getCurrentPosition());
         engine.telemetry.addData("BackRightDrive", robot.backRightDrive.getCurrentPosition());
         engine.telemetry.addData("BackLeftDrive", robot.backLeftDrive.getCurrentPosition());
+        engine.telemetry.addData("BackLeftDrive", robot.OdometerEncoder.getCurrentPosition());
 
         engine.telemetry.addData("drivePower", drivePower);
         engine.telemetry.addData("targetDrivePower", targetDrivePower);

TeamCode/src/main/java/org/timecrafters/Autonomous/States/DriverStateWithOdometer.java

@@ -15,6 +15,7 @@ public class DriverStateWithOdometer extends CyberarmState {
     private int maximumTolerance;
     private float direction;
     private boolean targetAchieved = false;
+    private double CurrentPosition;
     public DriverStateWithOdometer(PhoenixBot1 robot, String groupName, String actionName) {
         this.robot = robot;
         this.targetDrivePower = robot.configuration.variable(groupName, actionName, "targetDrivePower").value();
@@ -36,12 +37,14 @@ public class DriverStateWithOdometer extends CyberarmState {
         robot.backRightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         robot.backLeftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
         robot.OdometerEncoder.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        robot.OdometerEncoderLeft.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 
         robot.frontRightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
         robot.frontLeftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
         robot.backRightDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
         robot.backLeftDrive.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
         robot.OdometerEncoder.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
+        robot.OdometerEncoderLeft.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 
 
 
@@ -55,7 +58,12 @@ public class DriverStateWithOdometer extends CyberarmState {
             return;
         }
 
-        double CurrentPosition = Math.abs(robot.OdometerEncoder.getCurrentPosition());
+        double RightCurrentPosition = Math.abs(robot.OdometerEncoder.getCurrentPosition());
+        double LeftCurrentPosition = Math.abs(robot.OdometerEncoderLeft.getCurrentPosition());
+
+        if (RightCurrentPosition > LeftCurrentPosition) CurrentPosition = RightCurrentPosition;
+        if (RightCurrentPosition <= LeftCurrentPosition) CurrentPosition = LeftCurrentPosition;
+
 
         if (Math.abs(CurrentPosition) <= RampUpDistance){
             // ramping up

TeamCode/src/main/java/org/timecrafters/Autonomous/States/RotationState.java

@@ -35,12 +35,12 @@ public class RotationState extends CyberarmState {
         RobotRotation = robot.imu.getAngularOrientation().firstAngle;
 
         if (Math.abs(Math.abs(targetRotation) - Math.abs(RobotRotation)) < 20){
-            drivePowerVariable = 0.3 * drivePower;
+            drivePowerVariable = 0.4 * drivePower;
-            if (Math.abs(drivePowerVariable) < 0.3) {
+            if (Math.abs(drivePowerVariable) < 0.4) {
                 if (drivePowerVariable < 0){
-                    drivePowerVariable = -0.3;
+                    drivePowerVariable = -0.4;
                 } else {
-                    drivePowerVariable = 0.3;
+                    drivePowerVariable = 0.4;
                 }
             }
             debugStatus = "Rotate Slow";

TeamCode/src/main/java/org/timecrafters/TeleOp/states/LaserState.java

@@ -7,7 +7,7 @@ import com.qualcomm.robotcore.hardware.ColorSensor;
 
 import org.cyberarm.engine.V2.CyberarmState;
 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
-import org.timecrafters.minibots.cyberarm.states.MecanumRobot;
+import org.timecrafters.minibots.states.MecanumRobot;
 
 public class LaserState extends CyberarmState {
     Rev2mDistanceSensor laser;

TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixBot1.java

@@ -44,7 +44,7 @@ public class PhoenixBot1 {
     public Servo LowRiserLeft, LowRiserRight, HighRiserLeft, HighRiserRight, CameraServo;
     private final CyberarmEngine engine;
 
-    public Rev2mDistanceSensor collectorDistance, downSensor, leftPoleDistance, rightPoleDistance;
+    public Rev2mDistanceSensor collectorDistance, /*downSensor,*/ leftPoleDistance, rightPoleDistance;
 
         public DcMotor frontLeftDrive, frontRightDrive, backLeftDrive, backRightDrive, OdometerEncoder, OdometerEncoderLeft;
 
@@ -104,7 +104,7 @@ public class PhoenixBot1 {
 
 
             collectorDistance = engine.hardwareMap.get(Rev2mDistanceSensor.class, "collectorDistance");
-            downSensor = engine.hardwareMap.get(Rev2mDistanceSensor.class, "downDistance");
+//            downSensor = engine.hardwareMap.get(Rev2mDistanceSensor.class, "downDistance");
             leftPoleDistance = engine.hardwareMap.get(Rev2mDistanceSensor.class, "Left Pole Distance");
             rightPoleDistance = engine.hardwareMap.get(Rev2mDistanceSensor.class, "Right Pole Distance");
 
@@ -195,8 +195,8 @@ public class PhoenixBot1 {
 
             LowRiserLeft.setPosition(0.35);
             LowRiserRight.setPosition(0.35);
-            HighRiserLeft.setPosition(0.45);
+            HighRiserLeft.setPosition(0.40);
-            HighRiserRight.setPosition(0.45);
+            HighRiserRight.setPosition(0.40);
 
             CameraServo.setPosition(0.775);
 

TeamCode/src/main/java/org/timecrafters/TeleOp/states/PhoenixTeleOPState.java

@@ -58,7 +58,7 @@ public class PhoenixTeleOPState extends CyberarmState {
         engine.telemetry.addData("Drive Power", drivePower);
         engine.telemetry.addData("Delta Rotation", DeltaRotation);
         engine.telemetry.addData("Cone Distance", robot.collectorDistance.getDistance(DistanceUnit.MM));
-        engine.telemetry.addData("Collector Height", robot.downSensor.getDistance(DistanceUnit.MM));
+//        engine.telemetry.addData("Collector Height", robot.downSensor.getDistance(DistanceUnit.MM));
         engine.telemetry.addData("Left Pole Distance", robot.leftPoleDistance.getDistance(DistanceUnit.MM));
         engine.telemetry.addData("Right Pole Distance", robot.rightPoleDistance.getDistance(DistanceUnit.MM));
         engine.telemetry.addData("Odometer Encoder, Right", robot.OdometerEncoder.getCurrentPosition());
@@ -483,15 +483,15 @@ public class PhoenixTeleOPState extends CyberarmState {
             robot.imu.initialize(parameters);
         }
     }
-    public double downSensor() {
+//    public double downSensor() {
-        double Distance, Distance_1, Distance_2, Distance_3, Distance_4, Distance_5;
+//        double Distance, Distance_1, Distance_2, Distance_3, Distance_4, Distance_5;
-        Distance_1 = robot.downSensor.getDistance(DistanceUnit.MM);
+//        Distance_1 = robot.downSensor.getDistance(DistanceUnit.MM);
-        Distance_2 = robot.downSensor.getDistance(DistanceUnit.MM);
+//        Distance_2 = robot.downSensor.getDistance(DistanceUnit.MM);
-        Distance_3 = robot.downSensor.getDistance(DistanceUnit.MM);
+//        Distance_3 = robot.downSensor.getDistance(DistanceUnit.MM);
-        Distance_4 = robot.downSensor.getDistance(DistanceUnit.MM);
+//        Distance_4 = robot.downSensor.getDistance(DistanceUnit.MM);
-        Distance_5 = robot.downSensor.getDistance(DistanceUnit.MM);
+//        Distance_5 = robot.downSensor.getDistance(DistanceUnit.MM);
-        Distance = (Distance_1 + Distance_2 + Distance_3 + Distance_4 + Distance_5)/5;
+//        Distance = (Distance_1 + Distance_2 + Distance_3 + Distance_4 + Distance_5)/5;
-        return Distance;
+//        return Distance;
 
     }
-}
+

TeamCode/src/main/java/org/timecrafters/minibots/Engine.java

@@ -1,9 +1,9 @@
-package org.timecrafters.minibots.cyberarm;
+package org.timecrafters.minibots;
 
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
-import org.timecrafters.minibots.cyberarm.engines.Common;
+import org.timecrafters.minibots.engines.Common;
 
 @TeleOp (name = "light test")
 

TeamCode/src/main/java/org/timecrafters/minibots/MecanumMinibot.java

@@ -1,4 +1,4 @@
-package org.timecrafters.minibots.cyberarm;
+package org.timecrafters.minibots;
 
 import com.qualcomm.robotcore.hardware.CRServo;
 import com.qualcomm.robotcore.hardware.DcMotor;

TeamCode/src/main/java/org/timecrafters/minibots/PortsCheckGeneric.java

@@ -1,4 +1,4 @@
-package org.timecrafters.minibots.cyberarm;
+package org.timecrafters.minibots;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
 

TeamCode/src/main/java/org/timecrafters/minibots/State.java

@@ -1,9 +1,9 @@
-package org.timecrafters.minibots.cyberarm;
+package org.timecrafters.minibots;
 
 import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
 
 import org.cyberarm.engine.V2.CyberarmState;
-import org.timecrafters.minibots.cyberarm.engines.Common;
+import org.timecrafters.minibots.engines.Common;
 
 public class State extends CyberarmState {
 

TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/Robot.java

@@ -0,0 +1,266 @@
+package org.timecrafters.minibots.cyberarm.chiron;
+
+import com.qualcomm.hardware.rev.RevHubOrientationOnRobot;
+import com.qualcomm.robotcore.hardware.ColorSensor;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.IMU;
+import com.qualcomm.robotcore.hardware.Servo;
+import com.qualcomm.robotcore.hardware.ServoImplEx;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.CurrentUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
+import org.timecrafters.TimeCraftersConfigurationTool.library.backend.config.Action;
+import org.timecrafters.TimeCraftersConfigurationTool.library.backend.config.Variable;
+
+public class Robot {
+    public final DcMotorEx leftDrive, rightDrive, frontDrive, backDrive, liftDrive;
+    public final ServoImplEx gripper, wrist;
+    public final IMU imu;
+    public final ColorSensor indicatorA, indicatorB;
+
+    public final double imuAngleOffset;
+    public boolean wristManuallyControlled = false;
+    public boolean automaticAntiTipActive = false;
+    public boolean hardwareFault = false;
+
+    public Status status = Status.OKAY;
+
+    public enum LiftPosition {
+        COLLECT,
+        GROUND,
+        LOW,
+        MEDIUM,
+        HIGH
+
+    }
+    
+    public enum Status {
+        OKAY,
+        MONITORING,
+        WARNING,
+        DANGER
+    }
+
+    private final CyberarmEngine engine;
+    private final TimeCraftersConfiguration configuration;
+
+    public Robot(CyberarmEngine engine, TimeCraftersConfiguration configuration) {
+        this.engine = engine;
+        this.configuration = configuration;
+        imuAngleOffset = hardwareConfig("imu_angle_offset").value();
+
+        // Define hardware
+        leftDrive = engine.hardwareMap.get(DcMotorEx.class, "left_drive");    // MOTOR PORT: ?
+        rightDrive = engine.hardwareMap.get(DcMotorEx.class, "right_drive");  // MOTOR PORT: ?
+
+        frontDrive = engine.hardwareMap.get(DcMotorEx.class, "front_drive");  // MOTOR PORT: ?
+        backDrive = engine.hardwareMap.get(DcMotorEx.class, "back_drive");    // MOTOR PORT: ?
+
+        liftDrive = engine.hardwareMap.get(DcMotorEx.class, "lift_drive");    // MOTOR PORT: ?
+
+        gripper = engine.hardwareMap.get(ServoImplEx.class, "gripper");       // SERVO PORT: ?
+        wrist = engine.hardwareMap.get(ServoImplEx.class, "wrist");           // SERVO PORT: ?
+
+        indicatorA = engine.hardwareMap.colorSensor.get("indicator_A"); // I2C
+        indicatorB = engine.hardwareMap.colorSensor.get("indicator_B"); // I2C
+
+        imu = engine.hardwareMap.get(IMU.class, "imu");
+
+
+        // Configure hardware
+        //   MOTORS
+        //      DIRECTION
+        leftDrive.setDirection(hardwareConfig("left_drive_direction_forward").value() ? DcMotorSimple.Direction.FORWARD : DcMotorSimple.Direction.REVERSE);
+        rightDrive.setDirection(hardwareConfig("right_drive_direction_forward").value() ? DcMotorSimple.Direction.FORWARD : DcMotorSimple.Direction.REVERSE);
+
+        frontDrive.setDirection(hardwareConfig("front_drive_direction_forward").value() ? DcMotorSimple.Direction.FORWARD : DcMotorSimple.Direction.REVERSE);
+        backDrive.setDirection(hardwareConfig("back_drive_direction_forward").value() ? DcMotorSimple.Direction.FORWARD : DcMotorSimple.Direction.REVERSE);
+
+        liftDrive.setDirection(hardwareConfig("lift_drive_direction_forward").value() ? DcMotorSimple.Direction.FORWARD : DcMotorSimple.Direction.REVERSE);
+
+        //      RUNMODE
+        leftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); leftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        rightDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); rightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        frontDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); frontDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        backDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); backDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        liftDrive.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER); liftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        //      ZERO POWER BEHAVIOR
+        leftDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        frontDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        backDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        liftDrive.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        //   SERVOS (POSITIONAL)
+        //      Gripper
+        gripper.setDirection(hardwareConfig("gripper_direction_forward").value() ? Servo.Direction.FORWARD : Servo.Direction.REVERSE);
+        gripper.setPosition(hardwareConfig("gripper_initial_position").value());
+
+        //      Wrist
+        wrist.setDirection(hardwareConfig("wrist_direction_forward").value() ? Servo.Direction.FORWARD : Servo.Direction.REVERSE);
+        wrist.setPosition(hardwareConfig("wrist_initial_position").value());
+
+        //   SENSORS
+        //      COLOR SENSORS
+        indicatorA.enableLed(false);
+        indicatorB.enableLed(false);
+
+        //      IMU
+        IMU.Parameters parameters = new IMU.Parameters(
+                new RevHubOrientationOnRobot(
+                    RevHubOrientationOnRobot.LogoFacingDirection.UP,
+                    RevHubOrientationOnRobot.UsbFacingDirection.FORWARD));
+
+        imu.initialize(parameters);
+    }
+
+    public void standardTelemetry() {
+        // Motor Powers
+        engine.telemetry.addLine("Motor Powers");
+        engine.telemetry.addData("  Left Drive", leftDrive.getPower());
+        engine.telemetry.addData("  Right Drive", rightDrive.getPower());
+
+        engine.telemetry.addData("  Front Drive", frontDrive.getPower());
+        engine.telemetry.addData("  Back Drive", backDrive.getPower());
+
+        engine.telemetry.addLine();
+
+        engine.telemetry.addData("  Lift Drive", backDrive.getPower());
+
+        engine.telemetry.addLine();
+
+        // Motor Positions
+        engine.telemetry.addLine("Motor Positions");
+        engine.telemetry.addData("  Left Drive", "%d (%.2f in)", leftDrive.getCurrentPosition(), ticksToUnit(DistanceUnit.INCH, leftDrive.getCurrentPosition()));
+        engine.telemetry.addData("  Right Drive", "%d (%.2f in)", rightDrive.getCurrentPosition(), ticksToUnit(DistanceUnit.INCH, rightDrive.getCurrentPosition()));
+
+        engine.telemetry.addData("  Front Drive", "%d (%.2f in)", frontDrive.getCurrentPosition(), ticksToUnit(DistanceUnit.INCH, frontDrive.getCurrentPosition()));
+        engine.telemetry.addData("  Back Drive", "%d (%.2f in)", backDrive.getCurrentPosition(), ticksToUnit(DistanceUnit.INCH, backDrive.getCurrentPosition()));
+
+        engine.telemetry.addLine();
+
+        engine.telemetry.addData("  Lift Drive", "%d (%.2d degrees)", leftDrive.getCurrentPosition(), ticksToAngle(liftDrive.getCurrentPosition()));
+
+        engine.telemetry.addLine();
+
+        // Motor Currents
+        engine.telemetry.addLine("Motor Currents (AMPS)");
+        engine.telemetry.addData("  Left Drive", leftDrive.getCurrent(CurrentUnit.AMPS));
+        engine.telemetry.addData("  Right Drive", rightDrive.getCurrent(CurrentUnit.AMPS));
+
+        engine.telemetry.addData("  Front Drive", frontDrive.getCurrent(CurrentUnit.AMPS));
+        engine.telemetry.addData("  Back Drive", backDrive.getCurrent(CurrentUnit.AMPS));
+
+        engine.telemetry.addLine();
+
+        engine.telemetry.addData("  Lift Drive", backDrive.getCurrent(CurrentUnit.AMPS));
+
+        engine.telemetry.addLine();
+
+        // Motor Directions
+        engine.telemetry.addLine("Motor Directions");
+        engine.telemetry.addData("  Left Drive", leftDrive.getDirection());
+        engine.telemetry.addData("  Right Drive", rightDrive.getDirection());
+
+        engine.telemetry.addData("  Front Drive", frontDrive.getDirection());
+        engine.telemetry.addData("  Back Drive", backDrive.getDirection());
+
+        engine.telemetry.addLine();
+
+        engine.telemetry.addData("  Lift Drive", backDrive.getDirection());
+
+        engine.telemetry.addLine();
+
+        // Servos
+        engine.telemetry.addLine("Servos");
+        engine.telemetry.addData("  Gripper Direction", gripper.getDirection());
+        engine.telemetry.addData("  Gripper Position", gripper.getPosition());
+        engine.telemetry.addData("  Gripper Enabled", gripper.isPwmEnabled());
+        engine.telemetry.addLine();
+        engine.telemetry.addData("  Wrist Direction", wrist.getDirection());
+        engine.telemetry.addData("  Wrist Position", wrist.getPosition());
+        engine.telemetry.addData("  Wrist Enabled", wrist.isPwmEnabled());
+
+        engine.telemetry.addLine();
+
+        // Sensors / IMU
+        engine.telemetry.addLine("IMU");
+        engine.telemetry.addData("  Facing", facing());
+        engine.telemetry.addData("  Turn Rate", turnRate());
+    }
+
+    public TimeCraftersConfiguration getConfiguration() {
+        return configuration;
+    }
+
+    // For: Drive Wheels
+    public int unitToTicks(DistanceUnit unit, double distance) {
+        double inches = unit.toInches(unit.fromUnit(unit, distance)); // NOTE: UNTESTED
+
+        // FIXME: This should be stored as a presudo constant at initialization
+        double wheelRadius = tuningConfig("wheel_radius").value();
+        double gearRatio = tuningConfig("wheel_gear_ratio").value();
+        double ticksPerRevolution = tuningConfig("wheel_ticks_per_revolution").value();
+
+        return 0;
+    }
+
+    // For: Drive Wheels
+    public double ticksToUnit(DistanceUnit unit, int ticks) {
+        return 0;
+    }
+
+    // For: Lift Arm
+    public int angleToTicks(double angle) {
+        return 0;
+    }
+
+    // For: Lift Arm
+    public double ticksToAngle(int ticks) {
+        return 0;
+    }
+
+    public Variable hardwareConfig(String variableName) {
+        Action hardwareConfiguration = configuration.action("Robot", "Hardware");
+
+        for (Variable v : hardwareConfiguration.getVariables()) {
+            if (variableName.trim().equals(v.name)) {
+                return v;
+            }
+        }
+
+        throw new RuntimeException("Failed to find variable with name: " + variableName + " in group: Robot, action: Hardware");
+    }
+
+    public Variable tuningConfig(String variableName) {
+        Action action = configuration.action("Robot", "Tuning");
+
+        for (Variable v : action.getVariables()) {
+            if (variableName.trim().equals(v.name)) {
+                return v;
+            }
+        }
+
+        throw new RuntimeException("Failed to find variable with name: " + variableName + " in group: Robot, action: Tuning");
+    }
+
+    // TODO: Convert to 360 degree range with +90 degrees being on the RIGHT
+    public double facing() {
+        // FIXME: Apply imuAngleOffset
+        return imu.getRobotYawPitchRollAngles().getYaw(AngleUnit.DEGREES);
+    }
+
+    public double turnRate() {
+        return imu.getRobotAngularVelocity(AngleUnit.DEGREES).yRotationRate; // NOTE: UNTESTED
+    }
+}

TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/engines/TeleOpEngine.java

@@ -0,0 +1,23 @@
+package org.timecrafters.minibots.cyberarm.chiron.engines;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+import org.timecrafters.TimeCraftersConfigurationTool.library.TimeCraftersConfiguration;
+import org.timecrafters.minibots.cyberarm.chiron.Robot;
+import org.timecrafters.minibots.cyberarm.chiron.states.DriverControlState;
+
+public class TeleOpEngine extends CyberarmEngine {
+    private Robot robot;
+    @Override
+    public void setup() {
+        this.robot = new Robot(this, new TimeCraftersConfiguration("CHIRON"));
+
+        addState(new DriverControlState(robot));
+    }
+
+    @Override
+    public void loop() {
+        super.loop();
+
+        robot.standardTelemetry();
+    }
+}

TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/chiron/states/DriverControlState.java

@@ -0,0 +1,284 @@
+package org.timecrafters.minibots.cyberarm.chiron.states;
+
+import com.qualcomm.robotcore.hardware.Gamepad;
+
+import org.cyberarm.engine.V2.CyberarmState;
+import org.cyberarm.engine.V2.GamepadChecker;
+import org.timecrafters.minibots.cyberarm.chiron.Robot;
+
+public class DriverControlState extends CyberarmState {
+    private final Robot robot;
+    private final GamepadChecker controller;
+    private final double releaseConfirmationDelay;
+    private double lastLiftManualControlTime = 0, lastWristManualControlTime = 0, lastLEDStatusAnimationTime = 0;
+    private boolean LEDStatusToggle = false;
+
+    public DriverControlState(Robot robot) {
+        this.robot = robot;
+        this.controller = new GamepadChecker(engine, engine.gamepad1);
+
+        this.releaseConfirmationDelay = robot.tuningConfig("cone_release_confirmation_delay").value(); // ms
+    }
+
+    @Override
+    public void exec() {
+        double forwardSpeed = engine.gamepad1.left_stick_y * -1;
+        double rightSpeed = engine.gamepad1.right_stick_x;
+        double forwardAngle = robot.facing();
+
+        robot.status = Robot.Status.OKAY;
+
+        move(forwardAngle, forwardSpeed, rightSpeed);
+        liftManualControl();
+        wristManualControl();
+
+        automatics();
+
+        controller.update();
+    }
+
+    // FIXME: replace .setPower with .setVelocity
+    private void move(double forwardAngle, double forwardSpeed, double rightSpeed) {
+        if (robot.automaticAntiTipActive || robot.hardwareFault) {
+            return;
+        }
+
+        if (rightSpeed == 0 && forwardSpeed != 0) { // DRIVE STRAIGHT
+            robot.leftDrive.setPower(forwardSpeed);
+            robot.rightDrive.setPower(forwardSpeed);
+
+            robot.frontDrive.setPower(0);
+            robot.backDrive.setPower(0);
+
+        } else if (rightSpeed != 0 && forwardSpeed == 0) { // TURN IN PLACE
+            robot.leftDrive.setPower(rightSpeed);
+            robot.rightDrive.setPower(-rightSpeed);
+
+            robot.frontDrive.setPower(rightSpeed);
+            robot.backDrive.setPower(-rightSpeed);
+
+        } else if (rightSpeed != 0 && forwardSpeed != 0) { // ANGLE DRIVE
+            // TODO
+            stopDrive();
+        } else {
+            stopDrive();
+        }
+    }
+
+    private void stopDrive() {
+        robot.leftDrive.setPower(0);
+        robot.rightDrive.setPower(0);
+
+        robot.frontDrive.setPower(0);
+        robot.backDrive.setPower(0);
+    }
+
+    private void liftManualControl() {
+        if (robot.hardwareFault) {
+            return;
+        }
+
+        robot.status = Robot.Status.WARNING;
+
+        double stepInterval = robot.tuningConfig("lift_manual_step_interval").value();
+        int stepSize = robot.tuningConfig("lift_manual_step_size").value();
+
+        if ((engine.gamepad1.left_trigger > 0 || engine.gamepad1.right_trigger > 0) && runTime() - lastWristManualControlTime >= stepInterval) {
+            lastWristManualControlTime = runTime();
+
+            if (engine.gamepad1.left_trigger > 0) { // Lift DOWN
+                // robot.liftDrive.setVelocity(5, AngleUnit.DEGREES);
+                robot.liftDrive.setTargetPosition(robot.leftDrive.getTargetPosition() - stepSize);
+
+            } else if (engine.gamepad1.right_trigger > 0) { // Lift UP
+                robot.liftDrive.setTargetPosition(robot.leftDrive.getTargetPosition() + stepSize);
+            }
+        }
+
+        // FIXME: Detect when the triggers have been released and park lift arm at the current position
+    }
+
+    private void wristManualControl() {
+        if (robot.hardwareFault) {
+            return;
+        }
+
+        double stepInterval = robot.tuningConfig("wrist_manual_step_interval").value();
+        double stepSize = robot.tuningConfig("wrist_manual_step_size").value();
+
+        if ((engine.gamepad1.dpad_left || engine.gamepad1.dpad_right) && runTime() - lastLiftManualControlTime >= stepInterval) {
+            lastLiftManualControlTime = runTime();
+
+            if (engine.gamepad1.dpad_left) { // Wrist Left
+                robot.wrist.setPosition(robot.wrist.getPosition() - stepSize);
+
+            } else if (engine.gamepad1.dpad_right) { // Wrist Right
+                robot.wrist.setPosition(robot.wrist.getPosition() + stepSize);
+            }
+        }
+    }
+
+    private void stopLift() {
+        robot.liftDrive.setPower(0);
+    }
+
+    private void automatics() {
+        automaticWrist();
+        automaticAntiTip(); // NO OP
+        automaticHardwareMonitor();
+
+        automaticLEDStatus();
+    }
+
+    private void automaticWrist() {
+        if (robot.wristManuallyControlled) {
+            return;
+        }
+
+        if (robot.ticksToAngle(robot.liftDrive.getCurrentPosition()) >= 50) {
+            robot.wrist.setPosition(robot.hardwareConfig("wrist_deposit_position").value());
+        } else {
+            robot.wrist.setPosition(robot.hardwareConfig("wrist_initial_position").value());
+        }
+    }
+
+    // NO-OP
+    private void automaticAntiTip() {
+        // TODO: Take over drivetrain if robot starts to tip past a preconfigured point
+        //       return control if past point of no-return or tipping is no longer a concern
+
+        // TODO: Calculate motion inverse to the normal of current direction
+    }
+
+    private void automaticHardwareMonitor() {
+        // Check that encoders are updating as expect, etc.
+
+        // NOTE: Robot should prevent/halt all movement in the event of a fault
+        // robot.hardwareFault = true;
+
+        if (robot.hardwareFault) {
+            robot.status = Robot.Status.DANGER;
+
+            stopDrive();
+            stopLift();
+        }
+    }
+
+    private void automaticLEDStatus() {
+        switch (robot.status) {
+            case OKAY:
+                robot.indicatorA.enableLed(false);
+                robot.indicatorB.enableLed(false);
+                break;
+
+            case MONITORING:
+                robot.indicatorA.enableLed(true);
+                robot.indicatorB.enableLed(true);
+                break;
+
+            case WARNING:
+                if (runTime() - lastLEDStatusAnimationTime >= 500){
+                    lastLEDStatusAnimationTime = runTime();
+                    LEDStatusToggle = !LEDStatusToggle;
+
+                    robot.indicatorA.enableLed(LEDStatusToggle);
+                    robot.indicatorA.enableLed(!LEDStatusToggle);
+                }
+                break;
+
+            case DANGER:
+                if (runTime() - lastLEDStatusAnimationTime >= 200){
+                    lastLEDStatusAnimationTime = runTime();
+                    LEDStatusToggle = !LEDStatusToggle;
+
+                    robot.indicatorA.enableLed(LEDStatusToggle);
+                    robot.indicatorA.enableLed(LEDStatusToggle);
+                }
+                break;
+        }
+    }
+
+    private void liftPosition(Robot.LiftPosition position) {
+        if (robot.hardwareFault) {
+            return;
+        }
+
+        robot.status = Robot.Status.WARNING;
+
+        switch (position) {
+            case COLLECT:
+                robot.liftDrive.setTargetPosition(robot.angleToTicks(120));
+                break;
+
+            case GROUND:
+                robot.liftDrive.setTargetPosition(robot.angleToTicks(100));
+                break;
+
+            case LOW:
+                robot.liftDrive.setTargetPosition(robot.angleToTicks(80));
+                break;
+
+            case MEDIUM:
+                robot.liftDrive.setTargetPosition(robot.angleToTicks(35));
+                break;
+
+            case HIGH:
+                robot.liftDrive.setTargetPosition(robot.angleToTicks(15));
+                break;
+
+            default:
+                throw new RuntimeException("Unexpected lift position!");
+        }
+    }
+
+    private void gripperOpen() {
+        robot.gripper.setPosition(robot.hardwareConfig("gripper_open_position").value());
+    }
+
+    private void gripperClosed() {
+        robot.gripper.setPosition(robot.hardwareConfig("gripper_closed_position").value());
+    }
+
+    @Override
+    public void buttonDown(Gamepad gamepad, String button) {
+        if (gamepad != engine.gamepad1) {
+            return;
+        }
+
+        // Gripper Control
+        if (button.equals("left_bumper")) {
+            gripperOpen();
+        } else if (button.equals("right_bumper")) {
+            gripperClosed();
+        }
+
+        // Wrist Control
+        if (button.equals("dpad_down")) {
+            robot.wristManuallyControlled = false;
+
+            robot.wrist.setPosition(robot.hardwareConfig("wrist_deposit_position").value());
+        } else if (button.equals("dpad_up")) {
+            robot.wristManuallyControlled = false;
+
+            robot.wrist.setPosition(robot.hardwareConfig("wrist_initial_position").value());
+        }
+
+        // Automatic Lift Control
+        if (button.equals("a")) {
+            liftPosition(Robot.LiftPosition.COLLECT);
+        } else if (button.equals("x")) {
+            liftPosition(Robot.LiftPosition.GROUND);
+        } else if (button.equals("b")) {
+            liftPosition(Robot.LiftPosition.LOW);
+        } else if (button.equals("y")) {
+            liftPosition(Robot.LiftPosition.MEDIUM);
+        }
+    }
+
+    @Override
+    public void buttonUp(Gamepad gamepad, String button) {
+        if (gamepad != engine.gamepad1) {
+            return;
+        }
+    }
+}

TeamCode/src/main/java/org/timecrafters/minibots/cyberarm/states/BlitzkriegState.java

@@ -1,4 +0,0 @@
-package org.timecrafters.minibots.cyberarm.states;
-
-public class BlitzkriegState {
-}

TeamCode/src/main/java/org/timecrafters/minibots/engines/Common.java

@@ -1,4 +1,4 @@
-package org.timecrafters.minibots.cyberarm.engines;
+package org.timecrafters.minibots.engines;
 
 import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
 

TeamCode/src/main/java/org/timecrafters/minibots/engines/FieldOrientedEngine.java

@@ -1,11 +1,10 @@
-package org.timecrafters.minibots.cyberarm.engines;
+package org.timecrafters.minibots.engines;
 
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
-import org.cyberarm.engine.V2.CyberarmState;
+import org.timecrafters.minibots.states.FieldOrientedDrive;
-import org.timecrafters.minibots.cyberarm.states.FieldOrientedDrive;
+import org.timecrafters.minibots.states.MecanumRobot;
-import org.timecrafters.minibots.cyberarm.states.MecanumRobot;
 
 @TeleOp(name = "Field Oriented Drive")
 

TeamCode/src/main/java/org/timecrafters/minibots/engines/MecanumMinibotTeleOpEngine.java

@@ -1,10 +1,10 @@
-package org.timecrafters.minibots.cyberarm.engines;
+package org.timecrafters.minibots.engines;
 
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
-import org.timecrafters.minibots.cyberarm.MecanumMinibot;
+import org.timecrafters.minibots.MecanumMinibot;
-import org.timecrafters.minibots.cyberarm.states.MecanumMinibotTeleOpState;
+import org.timecrafters.minibots.states.MecanumMinibotTeleOpState;
 
 @TeleOp(name = "MecanumMinibot TeleOp", group = "minibot")
 public class MecanumMinibotTeleOpEngine extends CyberarmEngine {

TeamCode/src/main/java/org/timecrafters/minibots/engines/Mecanum_Robot_Engine.java

@@ -1,10 +1,10 @@
-package org.timecrafters.minibots.cyberarm.engines;
+package org.timecrafters.minibots.engines;
 
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
-import org.timecrafters.minibots.cyberarm.states.MecanumRobot;
+import org.timecrafters.minibots.states.MecanumRobot;
-import org.timecrafters.minibots.cyberarm.states.Mecanum_Robot_State;
+import org.timecrafters.minibots.states.Mecanum_Robot_State;
 
 @TeleOp(name = "Mecanum Robot TeleOp")
 

TeamCode/src/main/java/org/timecrafters/minibots/engines/Mecanum_fancy_drive_TeleOp.java

@@ -1,11 +1,11 @@
-package org.timecrafters.minibots.cyberarm.engines;
+package org.timecrafters.minibots.engines;
 
 import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
-import org.timecrafters.minibots.cyberarm.states.MecanumRobot;
+import org.timecrafters.minibots.states.MecanumRobot;
-import org.timecrafters.minibots.cyberarm.states.Mecanum_Fancy_Drive_State;
+import org.timecrafters.minibots.states.Mecanum_Fancy_Drive_State;
 @Disabled
 @TeleOp(name = "Fancy Drive TeleOp")
 

TeamCode/src/main/java/org/timecrafters/minibots/engines/PingPongEngine.java

@@ -1,10 +1,10 @@
-package org.timecrafters.minibots.cyberarm.engines;
+package org.timecrafters.minibots.engines;
 
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
-import org.timecrafters.minibots.cyberarm.states.MecanumRobot;
+import org.timecrafters.minibots.states.MecanumRobot;
-import org.timecrafters.minibots.cyberarm.states.PingPongState;
+import org.timecrafters.minibots.states.PingPongState;
 
 @TeleOp (name = "Sodi PingPong")
 

TeamCode/src/main/java/org/timecrafters/minibots/engines/TasksEngine.java

@@ -1,4 +1,4 @@
-package org.timecrafters.minibots.cyberarm.engines;
+package org.timecrafters.minibots.engines;
 
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 

TeamCode/src/main/java/org/timecrafters/minibots/engines/pickle_engine.java

@@ -1,10 +1,10 @@
-package org.timecrafters.minibots.cyberarm.engines;
+package org.timecrafters.minibots.engines;
 
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.cyberarm.engine.V2.CyberarmEngine;
-import org.timecrafters.minibots.cyberarm.pickle_minibot_general;
+import org.timecrafters.minibots.pickle_minibot_general;
-import org.timecrafters.minibots.cyberarm.states.pickle_teleop_state;
+import org.timecrafters.minibots.states.pickle_teleop_state;
 
 @TeleOp (name = "pickle_minibot teleop", group = "minibot")
 public class pickle_engine extends CyberarmEngine {

TeamCode/src/main/java/org/timecrafters/minibots/pickle_minibot_general.java

@@ -1,4 +1,4 @@
-package org.timecrafters.minibots.cyberarm;
+package org.timecrafters.minibots;
 
 import com.qualcomm.robotcore.hardware.CRServo;
 import com.qualcomm.robotcore.hardware.DcMotor;

TeamCode/src/main/java/org/timecrafters/minibots/states/AutonomousReversalExperiment.java

@@ -1,4 +1,4 @@
-package org.timecrafters.minibots.cyberarm.states;
+package org.timecrafters.minibots.states;
 
 import org.cyberarm.engine.V2.CyberarmState;
 

TeamCode/src/main/java/org/timecrafters/minibots/states/BlitzkriegState.java

@@ -0,0 +1,4 @@
+package org.timecrafters.minibots.states;
+
+public class BlitzkriegState {
+}

TeamCode/src/main/java/org/timecrafters/minibots/states/FieldOrientedDrive.java

@@ -1,4 +1,4 @@
-package org.timecrafters.minibots.cyberarm.states;
+package org.timecrafters.minibots.states;
 
 //adb connect 192.168.43.1
 

TeamCode/src/main/java/org/timecrafters/minibots/states/MecanumMinibotTeleOpState.java

@@ -1,10 +1,10 @@
-package org.timecrafters.minibots.cyberarm.states;
+package org.timecrafters.minibots.states;
 
 import com.qualcomm.robotcore.hardware.Gamepad;
 
 
 import org.cyberarm.engine.V2.CyberarmState;
-import org.timecrafters.minibots.cyberarm.MecanumMinibot;
+import org.timecrafters.minibots.MecanumMinibot;
 
 
 public class MecanumMinibotTeleOpState extends CyberarmState {

TeamCode/src/main/java/org/timecrafters/minibots/states/MecanumRobot.java

@@ -1,4 +1,4 @@
-package org.timecrafters.minibots.cyberarm.states;
+package org.timecrafters.minibots.states;
 
 import com.qualcomm.hardware.bosch.BNO055IMU;
 import com.qualcomm.hardware.rev.Rev2mDistanceSensor;

TeamCode/src/main/java/org/timecrafters/minibots/states/Mecanum_Fancy_Drive_State.java

@@ -1,9 +1,8 @@
-package org.timecrafters.minibots.cyberarm.states;
+package org.timecrafters.minibots.states;
 
 import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
 
 import org.cyberarm.engine.V2.CyberarmState;
-import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 
 
 public class Mecanum_Fancy_Drive_State extends CyberarmState {

TeamCode/src/main/java/org/timecrafters/minibots/states/Mecanum_Robot_State.java

@@ -1,4 +1,4 @@
-package org.timecrafters.minibots.cyberarm.states;
+package org.timecrafters.minibots.states;
 
 import org.cyberarm.engine.V2.CyberarmState;
 

TeamCode/src/main/java/org/timecrafters/minibots/states/PingPongState.java

@@ -1,4 +1,4 @@
-package org.timecrafters.minibots.cyberarm.states;
+package org.timecrafters.minibots.states;
 
 import org.cyberarm.engine.V2.CyberarmState;
 

TeamCode/src/main/java/org/timecrafters/minibots/states/pickle_teleop_state.java

@@ -1,7 +1,7 @@
-package org.timecrafters.minibots.cyberarm.states;
+package org.timecrafters.minibots.states;
 
 import org.cyberarm.engine.V2.CyberarmState;
-import org.timecrafters.minibots.cyberarm.pickle_minibot_general;
+import org.timecrafters.minibots.pickle_minibot_general;
 
 public class pickle_teleop_state extends CyberarmState {
     private final pickle_minibot_general robot;

build.common.gradle

@@ -47,9 +47,6 @@ android {
         }
     }
 
-    aaptOptions {
-        noCompress "tflite"
-    }
 
     defaultConfig {
         signingConfig signingConfigs.debug
@@ -111,9 +108,6 @@ android {
         targetCompatibility JavaVersion.VERSION_1_8
     }
 
-    packagingOptions {
-        pickFirst '**/*.so'
-    }
     sourceSets.main {
         jni.srcDirs = []
         jniLibs.srcDir rootProject.file('libs')

build.dependencies.gradle

@@ -4,6 +4,7 @@ repositories {
     flatDir {
         dirs rootProject.file('libs')
     }
+    maven { url = 'https://maven.brott.dev/' }
 }
 
 dependencies {
@@ -18,5 +19,6 @@ dependencies {
     implementation 'org.tensorflow:tensorflow-lite-task-vision:0.2.0'
     implementation 'androidx.appcompat:appcompat:1.2.0'
     implementation 'org.firstinspires.ftc:gameAssets-PowerPlay:1.0.0'
+    implementation 'com.acmerobotics.roadrunner:core:0.5.1'
 }
 

build.gradle

@@ -10,7 +10,7 @@ buildscript {
         google()
     }
     dependencies {
-        classpath 'com.android.tools.build:gradle:7.3.0'
+        classpath 'com.android.tools.build:gradle:7.3.1'
     }
 }