autonomous work right side almost done

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/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;
 
     }
-}
+

build.dependencies.gradle

@@ -18,5 +18,6 @@ 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'
 }