Fixed broken build due to imcomplete addition of RoadRunner, Refactored minibots out of my package..., added initial implementation of CHIRON minibot.

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/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/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.cyberarm.states.FieldOrientedDrive;
-import org.timecrafters.minibots.cyberarm.states.MecanumRobot;
+import org.timecrafters.minibots.states.FieldOrientedDrive;
+import org.timecrafters.minibots.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.cyberarm.states.MecanumMinibotTeleOpState;
+import org.timecrafters.minibots.MecanumMinibot;
+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.cyberarm.states.Mecanum_Robot_State;
+import org.timecrafters.minibots.states.MecanumRobot;
+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.cyberarm.states.Mecanum_Fancy_Drive_State;
+import org.timecrafters.minibots.states.MecanumRobot;
+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.cyberarm.states.PingPongState;
+import org.timecrafters.minibots.states.MecanumRobot;
+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.cyberarm.states.pickle_teleop_state;
+import org.timecrafters.minibots.pickle_minibot_general;
+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

@@ -1,22 +1,22 @@
-package org.timecrafters.minibots.cyberarm.states;
-
-import org.cyberarm.engine.V2.CyberarmState;
-
-public class AutonomousReversalExperiment extends CyberarmState {
-
-    MecanumRobot robot;
-    public AutonomousReversalExperiment (MecanumRobot robot) {
-        this.robot = robot;
-    }
-
-    @Override
-    public void exec() {
-
-    if (engine.gamepad1.dpad_up) {
-
-
-
-    }
-
-    }
-}
+package org.timecrafters.minibots.states;
+
+import org.cyberarm.engine.V2.CyberarmState;
+
+public class AutonomousReversalExperiment extends CyberarmState {
+
+    MecanumRobot robot;
+    public AutonomousReversalExperiment (MecanumRobot robot) {
+        this.robot = robot;
+    }
+
+    @Override
+    public void exec() {
+
+    if (engine.gamepad1.dpad_up) {
+
+
+
+    }
+
+    }
+}

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

@@ -1,67 +1,67 @@
-package org.timecrafters.minibots.cyberarm.states;
-
-//adb connect 192.168.43.1
-
-import com.qualcomm.hardware.bosch.BNO055IMU;
-import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
-
-import org.cyberarm.engine.V2.CyberarmState;
-
-public class FieldOrientedDrive extends CyberarmState {
-
-    MecanumRobot robot;
-    BNO055IMU imu;
-
-    public FieldOrientedDrive(MecanumRobot robot) {
-        this.robot = robot;
-    }
-
-    @Override
-    public void init() {
-
-        BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
-//        parameters.loggingEnabled = true;
-//        parameters.loggingTag     = "IMU";
-        imu = engine.hardwareMap.get(BNO055IMU.class, "imu");
-        imu.initialize(parameters);
-
-        parameters.angleUnit = BNO055IMU.AngleUnit.RADIANS;
-
-        imu.initialize(parameters);
-
-        robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
-    }
-
-    @Override
-    public void exec() {
-
-        robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.LIGHT_CHASE_BLUE);
-
-        double y = -engine.gamepad1.left_stick_y; // Remember, this is reversed!
-        double x = engine.gamepad1.left_stick_x * 1.1; // Counteract imperfect strafing
-        double rx = engine.gamepad1.right_stick_x;
-
-        // Read inverse IMU heading, as the IMU heading is CW positive
-
-        double botHeading = -imu.getAngularOrientation().firstAngle;
-
-        double rotX = x * Math.cos(botHeading) - y * Math.sin(botHeading);
-        double rotY = x * Math.sin(botHeading) + y * Math.cos(botHeading);
-
-        // 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 frontLeftPower = (rotY + rotX + rx) / denominator;
-        double backLeftPower = (rotY - rotX + rx) / denominator;
-        double frontRightPower = (rotY - rotX - rx) / denominator;
-        double backRightPower = (rotY + rotX - rx) / denominator;
-
-        robot.frontLeftDrive.setPower(frontLeftPower * .95);
-        robot.backRightDrive.setPower(backLeftPower * .95);
-        robot.frontRightDrive.setPower(frontRightPower * 1);
-        robot.backRightDrive.setPower(backRightPower * 1);
-
-    }
-    }
+package org.timecrafters.minibots.states;
+
+//adb connect 192.168.43.1
+
+import com.qualcomm.hardware.bosch.BNO055IMU;
+import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
+
+import org.cyberarm.engine.V2.CyberarmState;
+
+public class FieldOrientedDrive extends CyberarmState {
+
+    MecanumRobot robot;
+    BNO055IMU imu;
+
+    public FieldOrientedDrive(MecanumRobot robot) {
+        this.robot = robot;
+    }
+
+    @Override
+    public void init() {
+
+        BNO055IMU.Parameters parameters = new BNO055IMU.Parameters();
+//        parameters.loggingEnabled = true;
+//        parameters.loggingTag     = "IMU";
+        imu = engine.hardwareMap.get(BNO055IMU.class, "imu");
+        imu.initialize(parameters);
+
+        parameters.angleUnit = BNO055IMU.AngleUnit.RADIANS;
+
+        imu.initialize(parameters);
+
+        robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
+    }
+
+    @Override
+    public void exec() {
+
+        robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.LIGHT_CHASE_BLUE);
+
+        double y = -engine.gamepad1.left_stick_y; // Remember, this is reversed!
+        double x = engine.gamepad1.left_stick_x * 1.1; // Counteract imperfect strafing
+        double rx = engine.gamepad1.right_stick_x;
+
+        // Read inverse IMU heading, as the IMU heading is CW positive
+
+        double botHeading = -imu.getAngularOrientation().firstAngle;
+
+        double rotX = x * Math.cos(botHeading) - y * Math.sin(botHeading);
+        double rotY = x * Math.sin(botHeading) + y * Math.cos(botHeading);
+
+        // 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 frontLeftPower = (rotY + rotX + rx) / denominator;
+        double backLeftPower = (rotY - rotX + rx) / denominator;
+        double frontRightPower = (rotY - rotX - rx) / denominator;
+        double backRightPower = (rotY + rotX - rx) / denominator;
+
+        robot.frontLeftDrive.setPower(frontLeftPower * .95);
+        robot.backRightDrive.setPower(backLeftPower * .95);
+        robot.frontRightDrive.setPower(frontRightPower * 1);
+        robot.backRightDrive.setPower(backRightPower * 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

@@ -1,50 +1,50 @@
-package org.timecrafters.minibots.cyberarm.states;
-
-import com.qualcomm.hardware.bosch.BNO055IMU;
-import com.qualcomm.hardware.rev.Rev2mDistanceSensor;
-import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
-import com.qualcomm.robotcore.hardware.CRServo;
-import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.hardware.DcMotorSimple;
-import com.qualcomm.robotcore.hardware.Servo;
-
-import org.cyberarm.engine.V2.CyberarmEngine;
-
-public class MecanumRobot {
-
-    private CyberarmEngine engine;
-
-    public DcMotor frontLeftDrive, frontRightDrive, backLeftDrive, backRightDrive;
-
-    public RevBlinkinLedDriver ledDriver;
-
-    public MecanumRobot(CyberarmEngine engine) {
-        this.engine = engine;
-
-        setupRobot();
-    }
-
-    private void setupRobot() {
-
-        //motors configuration
-        frontLeftDrive = engine.hardwareMap.dcMotor.get("front left");
-        frontRightDrive = engine.hardwareMap.dcMotor.get("front right");
-        backRightDrive = engine.hardwareMap.dcMotor.get("back left");
-        backLeftDrive = engine.hardwareMap.dcMotor.get("back right");
-        ledDriver = engine.hardwareMap.get(RevBlinkinLedDriver.class, "lights");
-
-        //motors direction and encoders
-        frontLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
-        frontLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-
-        frontRightDrive.setDirection(DcMotorSimple.Direction.FORWARD);
-        frontRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-
-        backLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
-        backLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-
-        backRightDrive.setDirection(DcMotorSimple.Direction.FORWARD);
-        backRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
-
-    }
-    }
+package org.timecrafters.minibots.states;
+
+import com.qualcomm.hardware.bosch.BNO055IMU;
+import com.qualcomm.hardware.rev.Rev2mDistanceSensor;
+import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
+import com.qualcomm.robotcore.hardware.CRServo;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorSimple;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.cyberarm.engine.V2.CyberarmEngine;
+
+public class MecanumRobot {
+
+    private CyberarmEngine engine;
+
+    public DcMotor frontLeftDrive, frontRightDrive, backLeftDrive, backRightDrive;
+
+    public RevBlinkinLedDriver ledDriver;
+
+    public MecanumRobot(CyberarmEngine engine) {
+        this.engine = engine;
+
+        setupRobot();
+    }
+
+    private void setupRobot() {
+
+        //motors configuration
+        frontLeftDrive = engine.hardwareMap.dcMotor.get("front left");
+        frontRightDrive = engine.hardwareMap.dcMotor.get("front right");
+        backRightDrive = engine.hardwareMap.dcMotor.get("back left");
+        backLeftDrive = engine.hardwareMap.dcMotor.get("back right");
+        ledDriver = engine.hardwareMap.get(RevBlinkinLedDriver.class, "lights");
+
+        //motors direction and encoders
+        frontLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
+        frontLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        frontRightDrive.setDirection(DcMotorSimple.Direction.FORWARD);
+        frontRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        backLeftDrive.setDirection(DcMotorSimple.Direction.REVERSE);
+        backLeftDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+        backRightDrive.setDirection(DcMotorSimple.Direction.FORWARD);
+        backRightDrive.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+    }
+    }

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

@@ -1,105 +1,104 @@
-package org.timecrafters.minibots.cyberarm.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 {
-
-    private final MecanumRobot robot;
-    public boolean A;
-    public boolean X;
-    public boolean Y;
-    private double drivePower = 1;
-    private boolean bprev;
-
-
-    public Mecanum_Fancy_Drive_State(MecanumRobot robot) {
-        this.robot = robot;
-    }
-    @Override
-    public void init() {
-        robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
-    }
-    @Override
-    public void exec() {
-
-        //Gamepad Read
-
-        A = engine.gamepad1.a;
-        X = engine.gamepad1.x;
-        Y = engine.gamepad1.y;
-
-        //Drivetrain Variables
-        double y = -engine.gamepad1.left_stick_y; // Remember, this is reversed! because of the negative
-        double x = engine.gamepad1.left_stick_x * 1.1; // Counteract imperfect strafing
-        double rx = engine.gamepad1.right_stick_x;
-
-        //toggle for drive speed
-        boolean b = engine.gamepad1.b;
-        if (b && !bprev) {
-            if (drivePower == 1) {
-                drivePower = 0.5;
-            } else {
-                drivePower = 1;
-            }
-        }
-        bprev = b;
-
-        // 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 frontLeftPower = (y + x + rx) / denominator;
-        double backLeftPower = (y - x + rx) / denominator;
-        double frontRightPower = (y - x - rx) / denominator;
-        double backRightPower = (y + x - rx) / denominator;
-
-        // As I programed this and ran it, I realized everything was backwards
-        // in direction so to fix that i either went in the robot object state and reversed
-        // directions on drive motors or put a negative in behind the joystick power to reverse it.
-        // I put negatives in to reverse it because it was the easiest at the moment.
-
-        robot.frontLeftDrive.setPower(frontLeftPower * drivePower);
-        robot.backLeftDrive.setPower(backLeftPower * drivePower);
-        robot.frontRightDrive.setPower(frontRightPower * drivePower);
-        robot.backRightDrive.setPower(backRightPower * drivePower);
-
-
-
-
-
-        //-------------------------------------------------------------------------------------------------------------------
-        // LIGHT CONTROLS
-
-
-        if (drivePower == 1) {
-            robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.LIGHT_CHASE_BLUE);
-        }
-
-        else if (drivePower == 0.5){
-            robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.YELLOW);
-
-        }
-
-    }
-
-//------------------------------------------------------------------------------------------------------------------------------------
-// Telemetry Data
-
-
-    @Override
-    public void telemetry() {
-        engine.telemetry.addData("Speed", drivePower);
-        engine.telemetry.addData("FrontLeftEncoder", robot.frontLeftDrive.getCurrentPosition());
-        engine.telemetry.addData("FrontRightEncoder", robot.frontRightDrive.getCurrentPosition());
-        engine.telemetry.addData("BackLeftEncoder", robot.backLeftDrive.getCurrentPosition());
-        engine.telemetry.addData("BackRightEncoder", robot.backRightDrive.getCurrentPosition());
-
-    }
-}
-
-
+package org.timecrafters.minibots.states;
+
+import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
+
+import org.cyberarm.engine.V2.CyberarmState;
+
+
+public class Mecanum_Fancy_Drive_State extends CyberarmState {
+
+    private final MecanumRobot robot;
+    public boolean A;
+    public boolean X;
+    public boolean Y;
+    private double drivePower = 1;
+    private boolean bprev;
+
+
+    public Mecanum_Fancy_Drive_State(MecanumRobot robot) {
+        this.robot = robot;
+    }
+    @Override
+    public void init() {
+        robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.GREEN);
+    }
+    @Override
+    public void exec() {
+
+        //Gamepad Read
+
+        A = engine.gamepad1.a;
+        X = engine.gamepad1.x;
+        Y = engine.gamepad1.y;
+
+        //Drivetrain Variables
+        double y = -engine.gamepad1.left_stick_y; // Remember, this is reversed! because of the negative
+        double x = engine.gamepad1.left_stick_x * 1.1; // Counteract imperfect strafing
+        double rx = engine.gamepad1.right_stick_x;
+
+        //toggle for drive speed
+        boolean b = engine.gamepad1.b;
+        if (b && !bprev) {
+            if (drivePower == 1) {
+                drivePower = 0.5;
+            } else {
+                drivePower = 1;
+            }
+        }
+        bprev = b;
+
+        // 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 frontLeftPower = (y + x + rx) / denominator;
+        double backLeftPower = (y - x + rx) / denominator;
+        double frontRightPower = (y - x - rx) / denominator;
+        double backRightPower = (y + x - rx) / denominator;
+
+        // As I programed this and ran it, I realized everything was backwards
+        // in direction so to fix that i either went in the robot object state and reversed
+        // directions on drive motors or put a negative in behind the joystick power to reverse it.
+        // I put negatives in to reverse it because it was the easiest at the moment.
+
+        robot.frontLeftDrive.setPower(frontLeftPower * drivePower);
+        robot.backLeftDrive.setPower(backLeftPower * drivePower);
+        robot.frontRightDrive.setPower(frontRightPower * drivePower);
+        robot.backRightDrive.setPower(backRightPower * drivePower);
+
+
+
+
+
+        //-------------------------------------------------------------------------------------------------------------------
+        // LIGHT CONTROLS
+
+
+        if (drivePower == 1) {
+            robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.LIGHT_CHASE_BLUE);
+        }
+
+        else if (drivePower == 0.5){
+            robot.ledDriver.setPattern(RevBlinkinLedDriver.BlinkinPattern.YELLOW);
+
+        }
+
+    }
+
+//------------------------------------------------------------------------------------------------------------------------------------
+// Telemetry Data
+
+
+    @Override
+    public void telemetry() {
+        engine.telemetry.addData("Speed", drivePower);
+        engine.telemetry.addData("FrontLeftEncoder", robot.frontLeftDrive.getCurrentPosition());
+        engine.telemetry.addData("FrontRightEncoder", robot.frontRightDrive.getCurrentPosition());
+        engine.telemetry.addData("BackLeftEncoder", robot.backLeftDrive.getCurrentPosition());
+        engine.telemetry.addData("BackRightEncoder", robot.backRightDrive.getCurrentPosition());
+
+    }
+}
+
+

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

@@ -1,117 +1,117 @@
-package org.timecrafters.minibots.cyberarm.states;
-
-import org.cyberarm.engine.V2.CyberarmState;
-
-public class Mecanum_Robot_State extends CyberarmState {
-
-    // adb connect 192.168.43.1
-
-    private final MecanumRobot robot;
-    private float maxSpeed = 1;
-    private double halfSpeed = 0.5;
-
-    public Mecanum_Robot_State(MecanumRobot robot) {
-        this.robot = robot;
-    }
-
-    @Override
-    public void exec() {
-
-        if (engine.gamepad1.left_trigger > 0.5){
-
-            if (engine.gamepad1.left_bumper) {
-
-                robot.backRightDrive.setPower(halfSpeed);
-                robot.frontRightDrive.setPower(-halfSpeed);
-                robot.backLeftDrive.setPower(-halfSpeed);
-                robot.frontLeftDrive.setPower(halfSpeed);
-
-            } else if (engine.gamepad1.right_bumper) {
-
-                robot.backRightDrive.setPower(-halfSpeed);
-                robot.frontRightDrive.setPower(halfSpeed);
-                robot.backLeftDrive.setPower(halfSpeed);
-                robot.frontLeftDrive.setPower(-halfSpeed);
-
-            } else if (engine.gamepad1.dpad_right && engine.gamepad1.dpad_up) {
-
-                robot.frontLeftDrive.setPower(-halfSpeed);
-                robot.backRightDrive.setPower(-halfSpeed);
-
-            } else if (engine.gamepad1.dpad_left && engine.gamepad1.dpad_up) {
-
-                robot.frontRightDrive.setPower(-halfSpeed);
-                robot.backLeftDrive.setPower(-halfSpeed);
-
-            } else if (engine.gamepad1.dpad_right && engine.gamepad1.dpad_down) {
-
-                robot.backLeftDrive.setPower(halfSpeed);
-                robot.frontRightDrive.setPower(halfSpeed);
-
-            } else if (engine.gamepad1.dpad_left && engine.gamepad1.dpad_down) {
-
-                robot.backRightDrive.setPower(halfSpeed);
-                robot.frontLeftDrive.setPower(halfSpeed);
-
-            }
-
-            else {
-
-                robot.backRightDrive.setPower(engine.gamepad1.right_stick_y * halfSpeed) ;
-                robot.frontRightDrive.setPower(engine.gamepad1.right_stick_y * halfSpeed);
-                robot.backLeftDrive.setPower(engine.gamepad1.left_stick_y * halfSpeed);
-                robot.frontLeftDrive.setPower(engine.gamepad1.left_stick_y * halfSpeed);
-
-            }
-        }
-
-        else {
-
-            if (engine.gamepad1.left_bumper) {
-
-                robot.backRightDrive.setPower(maxSpeed);
-                robot.frontRightDrive.setPower(-maxSpeed);
-                robot.backLeftDrive.setPower(-maxSpeed);
-                robot.frontLeftDrive.setPower(maxSpeed);
-
-            } else if (engine.gamepad1.right_bumper) {
-
-                robot.backRightDrive.setPower(-maxSpeed);
-                robot.frontRightDrive.setPower(maxSpeed);
-                robot.backLeftDrive.setPower(maxSpeed);
-                robot.frontLeftDrive.setPower(-maxSpeed);
-
-            } else if (engine.gamepad1.dpad_right && engine.gamepad1.dpad_up) {
-
-                robot.frontLeftDrive.setPower(-maxSpeed);
-                robot.backRightDrive.setPower(-maxSpeed);
-
-            } else if (engine.gamepad1.dpad_left && engine.gamepad1.dpad_up) {
-
-                robot.frontRightDrive.setPower(-maxSpeed);
-                robot.backLeftDrive.setPower(-maxSpeed);
-
-            } else if (engine.gamepad1.dpad_right && engine.gamepad1.dpad_down) {
-
-            robot.backLeftDrive.setPower(maxSpeed);
-            robot.frontRightDrive.setPower(maxSpeed);
-
-            } else if (engine.gamepad1.dpad_left && engine.gamepad1.dpad_down) {
-
-                robot.backRightDrive.setPower(maxSpeed);
-                robot.frontLeftDrive.setPower(maxSpeed);
-
-            }  else {
-
-                robot.backRightDrive.setPower(engine.gamepad1.right_stick_y * maxSpeed) ;
-                robot.frontRightDrive.setPower(engine.gamepad1.right_stick_y * maxSpeed);
-                robot.backLeftDrive.setPower(engine.gamepad1.left_stick_y * maxSpeed);
-                robot.frontLeftDrive.setPower(engine.gamepad1.left_stick_y * maxSpeed);
-
-            }
-
-        }
-
-    }
-    }
-
+package org.timecrafters.minibots.states;
+
+import org.cyberarm.engine.V2.CyberarmState;
+
+public class Mecanum_Robot_State extends CyberarmState {
+
+    // adb connect 192.168.43.1
+
+    private final MecanumRobot robot;
+    private float maxSpeed = 1;
+    private double halfSpeed = 0.5;
+
+    public Mecanum_Robot_State(MecanumRobot robot) {
+        this.robot = robot;
+    }
+
+    @Override
+    public void exec() {
+
+        if (engine.gamepad1.left_trigger > 0.5){
+
+            if (engine.gamepad1.left_bumper) {
+
+                robot.backRightDrive.setPower(halfSpeed);
+                robot.frontRightDrive.setPower(-halfSpeed);
+                robot.backLeftDrive.setPower(-halfSpeed);
+                robot.frontLeftDrive.setPower(halfSpeed);
+
+            } else if (engine.gamepad1.right_bumper) {
+
+                robot.backRightDrive.setPower(-halfSpeed);
+                robot.frontRightDrive.setPower(halfSpeed);
+                robot.backLeftDrive.setPower(halfSpeed);
+                robot.frontLeftDrive.setPower(-halfSpeed);
+
+            } else if (engine.gamepad1.dpad_right && engine.gamepad1.dpad_up) {
+
+                robot.frontLeftDrive.setPower(-halfSpeed);
+                robot.backRightDrive.setPower(-halfSpeed);
+
+            } else if (engine.gamepad1.dpad_left && engine.gamepad1.dpad_up) {
+
+                robot.frontRightDrive.setPower(-halfSpeed);
+                robot.backLeftDrive.setPower(-halfSpeed);
+
+            } else if (engine.gamepad1.dpad_right && engine.gamepad1.dpad_down) {
+
+                robot.backLeftDrive.setPower(halfSpeed);
+                robot.frontRightDrive.setPower(halfSpeed);
+
+            } else if (engine.gamepad1.dpad_left && engine.gamepad1.dpad_down) {
+
+                robot.backRightDrive.setPower(halfSpeed);
+                robot.frontLeftDrive.setPower(halfSpeed);
+
+            }
+
+            else {
+
+                robot.backRightDrive.setPower(engine.gamepad1.right_stick_y * halfSpeed) ;
+                robot.frontRightDrive.setPower(engine.gamepad1.right_stick_y * halfSpeed);
+                robot.backLeftDrive.setPower(engine.gamepad1.left_stick_y * halfSpeed);
+                robot.frontLeftDrive.setPower(engine.gamepad1.left_stick_y * halfSpeed);
+
+            }
+        }
+
+        else {
+
+            if (engine.gamepad1.left_bumper) {
+
+                robot.backRightDrive.setPower(maxSpeed);
+                robot.frontRightDrive.setPower(-maxSpeed);
+                robot.backLeftDrive.setPower(-maxSpeed);
+                robot.frontLeftDrive.setPower(maxSpeed);
+
+            } else if (engine.gamepad1.right_bumper) {
+
+                robot.backRightDrive.setPower(-maxSpeed);
+                robot.frontRightDrive.setPower(maxSpeed);
+                robot.backLeftDrive.setPower(maxSpeed);
+                robot.frontLeftDrive.setPower(-maxSpeed);
+
+            } else if (engine.gamepad1.dpad_right && engine.gamepad1.dpad_up) {
+
+                robot.frontLeftDrive.setPower(-maxSpeed);
+                robot.backRightDrive.setPower(-maxSpeed);
+
+            } else if (engine.gamepad1.dpad_left && engine.gamepad1.dpad_up) {
+
+                robot.frontRightDrive.setPower(-maxSpeed);
+                robot.backLeftDrive.setPower(-maxSpeed);
+
+            } else if (engine.gamepad1.dpad_right && engine.gamepad1.dpad_down) {
+
+            robot.backLeftDrive.setPower(maxSpeed);
+            robot.frontRightDrive.setPower(maxSpeed);
+
+            } else if (engine.gamepad1.dpad_left && engine.gamepad1.dpad_down) {
+
+                robot.backRightDrive.setPower(maxSpeed);
+                robot.frontLeftDrive.setPower(maxSpeed);
+
+            }  else {
+
+                robot.backRightDrive.setPower(engine.gamepad1.right_stick_y * maxSpeed) ;
+                robot.frontRightDrive.setPower(engine.gamepad1.right_stick_y * maxSpeed);
+                robot.backLeftDrive.setPower(engine.gamepad1.left_stick_y * maxSpeed);
+                robot.frontLeftDrive.setPower(engine.gamepad1.left_stick_y * maxSpeed);
+
+            }
+
+        }
+
+    }
+    }
+

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

@@ -1,35 +1,35 @@
-package org.timecrafters.minibots.cyberarm.states;
-
-import org.cyberarm.engine.V2.CyberarmState;
-
-public class PingPongState extends CyberarmState {
-
-    private final MecanumRobot robot;
-    public PingPongState(MecanumRobot robot) {
-        this.robot = robot;
-    }
-    @Override
-    public void exec() {
-
-        if (engine.gamepad1.left_bumper) {
-            robot.frontLeftDrive.setPower(1);
-            robot.backLeftDrive.setPower(-1);
-            robot.backRightDrive.setPower(1);
-            robot.frontRightDrive.setPower(-1);
-        }
-        else if (engine.gamepad1.right_bumper) {
-            robot.frontLeftDrive.setPower(-1);
-            robot.backLeftDrive.setPower(1);
-            robot.frontRightDrive.setPower(1);
-            robot.backRightDrive.setPower(-1);
-        }
-
-        else {
-            robot.backLeftDrive.setPower(engine.gamepad1.left_stick_y);
-            robot.frontLeftDrive.setPower(engine.gamepad1.left_stick_y);
-            robot.backRightDrive.setPower(engine.gamepad1.right_stick_y);
-            robot.frontRightDrive.setPower(engine.gamepad1.right_stick_y);
-        }
-
-    }
-}
+package org.timecrafters.minibots.states;
+
+import org.cyberarm.engine.V2.CyberarmState;
+
+public class PingPongState extends CyberarmState {
+
+    private final MecanumRobot robot;
+    public PingPongState(MecanumRobot robot) {
+        this.robot = robot;
+    }
+    @Override
+    public void exec() {
+
+        if (engine.gamepad1.left_bumper) {
+            robot.frontLeftDrive.setPower(1);
+            robot.backLeftDrive.setPower(-1);
+            robot.backRightDrive.setPower(1);
+            robot.frontRightDrive.setPower(-1);
+        }
+        else if (engine.gamepad1.right_bumper) {
+            robot.frontLeftDrive.setPower(-1);
+            robot.backLeftDrive.setPower(1);
+            robot.frontRightDrive.setPower(1);
+            robot.backRightDrive.setPower(-1);
+        }
+
+        else {
+            robot.backLeftDrive.setPower(engine.gamepad1.left_stick_y);
+            robot.frontLeftDrive.setPower(engine.gamepad1.left_stick_y);
+            robot.backRightDrive.setPower(engine.gamepad1.right_stick_y);
+            robot.frontRightDrive.setPower(engine.gamepad1.right_stick_y);
+        }
+
+    }
+}

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;