making sure I'm not crazy

Juxtap0siti0n · Juxtap0siti0n · commit 571ac5ad82cb · 2026-06-07T16:10:19.000-07:00
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/Autos/AltCloseBlue.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/Autos/AltCloseBlue.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.OpModes.TestingAutos;
+package org.firstinspires.ftc.teamcode.OpModes.Autos;
 
 import com.pedropathing.follower.Follower;
 import com.pedropathing.ftc.drivetrains.MecanumConstants;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/Autos/AltCloseRed.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/Autos/AltCloseRed.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.OpModes.TestingAutos;
+package org.firstinspires.ftc.teamcode.OpModes.Autos;
 
 import com.pedropathing.follower.Follower;
 import com.pedropathing.ftc.drivetrains.MecanumConstants;
@@ -15,7 +15,6 @@
 import org.firstinspires.ftc.teamcode.Subsystems.FlywheelConstants.AutoFlywheelConstants;
 import org.firstinspires.ftc.teamcode.Subsystems.Motif.ServoGroup;
 import org.firstinspires.ftc.teamcode.Subsystems.OdoAim;
-import org.firstinspires.ftc.teamcode.Subsystems.OdoAimBlue;
 import org.firstinspires.ftc.teamcode.Subsystems.PoseStorage;
 import org.firstinspires.ftc.teamcode.pedroPathing.AutoConstants;
 
@@ -81,7 +80,6 @@ public void init() {
 
         paths = new Paths(follower);
         //This offset applies through the entire opMode.
-        turret.manualOffsetRad = -Math.toRadians(8);
 
         //This ensures that the flywheel does not reactivate at the end after turning it off
         hasStartedFlywheel = false;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TeleOps/BlueNoAutoTele.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TeleOps/BlueNoAutoTele.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.OpModes.TestingTeleOps;
+package org.firstinspires.ftc.teamcode.OpModes.TeleOps;
 
 import com.pedropathing.follower.Follower;
 import com.pedropathing.geometry.Pose;
@@ -13,6 +13,7 @@
 import org.firstinspires.ftc.teamcode.Subsystems.OdoAimBlue;
 import org.firstinspires.ftc.teamcode.Subsystems.PoseStorage;
 import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
+
 @TeleOp(name = "No Auto Blue Tele")
 public class BlueNoAutoTele extends OpMode {
     private BlueTeleFlywheelConstants flywheel;
@@ -37,7 +38,7 @@ public class BlueNoAutoTele extends OpMode {
 
     private boolean turretTrackingEnabled = false;
     private boolean lastTurretButton = false;
-
+    private boolean lastDpadUp = false;
     private boolean lastDpadLeft = false;
     private boolean lastDpadRight = false;
     private boolean lastDpadDown = false;
@@ -114,12 +115,18 @@ public void loop() {
 
         // -------- OFFSET CONTROLS --------
         if (gamepad1.dpad_left && !lastDpadLeft) {
-            odoAim.changeTarget(true, false);
+            odoAim.changeTargetX(false, true);
         }
         if (gamepad1.dpad_right && !lastDpadRight) {
-            odoAim.changeTarget(false, true);
+            odoAim.changeTargetX(true, false);
         }
-
+        if (gamepad1.dpad_up && !lastDpadUp) {
+            odoAim.changeTargetY(true, false);
+        }
+        if (gamepad1.dpad_down && !lastDpadDown) {
+            odoAim.changeTargetY(false, true);
+        }
+        lastDpadUp = gamepad1.dpad_up;
         lastDpadLeft = gamepad1.dpad_left;
         lastDpadRight = gamepad1.dpad_right;
         lastDpadDown = gamepad1.dpad_down;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TeleOps/BlueTele.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TeleOps/BlueTele.java
@@ -43,7 +43,7 @@ public class BlueTele extends OpMode {
     // ================= TURRET CONTROL =================
     private boolean turretTrackingEnabled = false;
     private boolean lastTurretButton = false;
-
+    private boolean lastDpadUp = false;
     private boolean lastDpadLeft = false;
     private boolean lastDpadRight = false;
     private boolean lastDpadDown = false;
@@ -124,17 +124,25 @@ public void loop() {
         lastTurretButton = turretButtonPressed;
 
         // -------- OFFSET CONTROLS --------
+
         if (gamepad1.dpad_left && !lastDpadLeft) {
-            odoAim.changeTarget(true, false);
+            odoAim.changeTargetX(false, true);
         }
         if (gamepad1.dpad_right && !lastDpadRight) {
-            odoAim.changeTarget(false, true);
+            odoAim.changeTargetX(true, false);
         }
-
+        if (gamepad1.dpad_up && !lastDpadUp) {
+            odoAim.changeTargetY(true, false);
+        }
+        if (gamepad1.dpad_down && !lastDpadDown) {
+            odoAim.changeTargetY(false, true);
+        }
+        lastDpadUp = gamepad1.dpad_up;
         lastDpadLeft = gamepad1.dpad_left;
         lastDpadRight = gamepad1.dpad_right;
         lastDpadDown = gamepad1.dpad_down;
 
+
         // -------- AIM ONLY IF ENABLED --------
         if (turretTrackingEnabled) {
             odoAim.odoAim();
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TeleOps/OldBlueTele.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TeleOps/OldBlueTele.java
@@ -2,6 +2,7 @@
 
 import com.pedropathing.follower.Follower;
 import com.pedropathing.geometry.Pose;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
@@ -13,8 +14,7 @@
 import org.firstinspires.ftc.teamcode.Subsystems.DualMotor;
 import org.firstinspires.ftc.teamcode.Subsystems.Motif.ServoGroup;
 import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
-
-@TeleOp(name="Blue TeleOp (Old)")
+@Disabled
 public class OldBlueTele extends OpMode {
     AprilTagTurretControllerBlue turretController;
     ColorSensors sensors;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TeleOps/OldRedTele.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TeleOps/OldRedTele.java
@@ -2,6 +2,7 @@
 
 import com.pedropathing.follower.Follower;
 import com.pedropathing.geometry.Pose;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
@@ -13,8 +14,7 @@
 import org.firstinspires.ftc.teamcode.Subsystems.DualMotor;
 import org.firstinspires.ftc.teamcode.Subsystems.Motif.ServoGroup;
 import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
-
-@TeleOp(name="Red TeleOp (Old)")
+@Disabled
 public class OldRedTele extends OpMode {
     AprilTagTurretControllerRed turretController;
     ColorSensors sensors;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TeleOps/RedNoAutoTele.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TeleOps/RedNoAutoTele.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.OpModes.TestingTeleOps;
+package org.firstinspires.ftc.teamcode.OpModes.TeleOps;
 
 import com.pedropathing.follower.Follower;
 import com.pedropathing.geometry.Pose;
@@ -38,6 +38,7 @@ public class RedNoAutoTele extends OpMode {
     private boolean turretTrackingEnabled = false;
     private boolean lastTurretButton = false;
 
+    private boolean lastDpadUp = false;
     private boolean lastDpadLeft = false;
     private boolean lastDpadRight = false;
     private boolean lastDpadDown = false;
@@ -117,12 +118,18 @@ public void loop() {
 
         // -------- OFFSET CONTROLS --------
         if (gamepad1.dpad_left && !lastDpadLeft) {
-            odoAim.changeTarget(true, false);
+            odoAim.changeTargetX(false, true);
         }
         if (gamepad1.dpad_right && !lastDpadRight) {
-            odoAim.changeTarget(false, true);
+            odoAim.changeTargetX(true, false);
         }
-
+        if (gamepad1.dpad_up && !lastDpadUp) {
+            odoAim.changeTargetY(true, false);
+        }
+        if (gamepad1.dpad_down && !lastDpadDown) {
+            odoAim.changeTargetY(false, true);
+        }
+        lastDpadUp = gamepad1.dpad_up;
         lastDpadLeft = gamepad1.dpad_left;
         lastDpadRight = gamepad1.dpad_right;
         lastDpadDown = gamepad1.dpad_down;
@@ -201,6 +208,9 @@ public void loop() {
 
         telemetry.addData("Turret Tracking Enabled", turretTrackingEnabled);
         telemetry.addData("Turret Offset (deg)", odoAim.getOffsetDegrees());
+        telemetry.addData("Target Pose Object", odoAim.getTargetPose());
+        telemetry.addData("target position X", odoAim.getTargetPose().getX());
+        telemetry.addData("target position Y", odoAim.getTargetPose().getY());
         telemetry.update();
     }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TeleOps/RedTele.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TeleOps/RedTele.java
@@ -42,6 +42,7 @@ public class RedTele extends OpMode {
     private boolean turretTrackingEnabled = false;
     private boolean lastTurretButton = false;
 
+    private boolean lastDpadUp = false;
     private boolean lastDpadLeft = false;
     private boolean lastDpadRight = false;
     private boolean lastDpadDown = false;
@@ -129,11 +130,21 @@ public void loop() {
 
         // -------- OFFSET CONTROLS --------
         if (gamepad1.dpad_left && !lastDpadLeft) {
-            odoAim.changeTarget(true, false);
+            odoAim.changeTargetX(false, true);
         }
         if (gamepad1.dpad_right && !lastDpadRight) {
-            odoAim.changeTarget(false, true);
+            odoAim.changeTargetX(true, false);
         }
+        if (gamepad1.dpad_up && !lastDpadUp) {
+            odoAim.changeTargetY(true, false);
+        }
+        if (gamepad1.dpad_down && !lastDpadDown) {
+            odoAim.changeTargetY(false, true);
+        }
+        lastDpadUp = gamepad1.dpad_up;
+        lastDpadLeft = gamepad1.dpad_left;
+        lastDpadRight = gamepad1.dpad_right;
+        lastDpadDown = gamepad1.dpad_down;
 
         lastDpadLeft = gamepad1.dpad_left;
         lastDpadRight = gamepad1.dpad_right;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TeleOps/ScrimBotTelop.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TeleOps/ScrimBotTelop.java
@@ -9,7 +9,6 @@
 import com.qualcomm.robotcore.hardware.HardwareMap;
 
 @Disabled
-@TeleOp(name = "ScrimBotTelop")
 public class ScrimBotTelop extends OpMode{
     private DcMotorEx Lr;
     private DcMotorEx Rr;
@@ -107,4 +106,4 @@ public void loop() {
             IfLeftTriggerPress = false;
         }
     }
-}
+}
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TestingAutos/MotifScannerAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TestingAutos/MotifScannerAuto.java
@@ -1,13 +1,13 @@
 package org.firstinspires.ftc.teamcode.OpModes.TestingAutos;
 
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.util.ElapsedTime;
 
 import org.firstinspires.ftc.teamcode.Subsystems.Motif.MotifDetector;
 import org.firstinspires.ftc.teamcode.Subsystems.Motif.MatchMotif;
-
-@Autonomous(name = "MotifScannerAuto")
+@Disabled
 public class MotifScannerAuto extends LinearOpMode {
 
     private MotifDetector detector;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TestingAutos/TestingFarBlue.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TestingAutos/TestingFarBlue.java
@@ -8,6 +8,7 @@
 import com.pedropathing.paths.PathChain;
 import com.pedropathing.util.Timer;
 import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 
@@ -18,8 +19,7 @@
 import org.firstinspires.ftc.teamcode.Subsystems.OdoAimBlue;
 import org.firstinspires.ftc.teamcode.Subsystems.PoseStorage;
 import org.firstinspires.ftc.teamcode.pedroPathing.AutoConstants;
-
-@Autonomous(name = "Testing Far Blue")
+@Disabled
 public class TestingFarBlue extends OpMode {
 
     // Hardware
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TestingTeleOps/MegaTagTesting.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TestingTeleOps/MegaTagTesting.java
@@ -3,14 +3,15 @@
 import com.pedropathing.follower.Follower;
 import com.pedropathing.geometry.Pose;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
 import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
 import org.firstinspires.ftc.teamcode.Subsystems.OdoAim;
 import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
-@TeleOp(name="MegaTag")
+@Disabled
 public class MegaTagTesting extends OpMode {
     Limelight3A limelight;
     LLResult result;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TestingTeleOps/MotifShooterTeleOp.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TestingTeleOps/MotifShooterTeleOp.java
@@ -1,13 +1,13 @@
 package org.firstinspires.ftc.teamcode.OpModes.TestingTeleOps;
 
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 
 import org.firstinspires.ftc.teamcode.Subsystems.ColorSensorTests.ColorSensors;
 import org.firstinspires.ftc.teamcode.Subsystems.Motif.MatchMotif;
 import org.firstinspires.ftc.teamcode.Subsystems.Motif.ServoGroup;
-
-@TeleOp(name = "Motif TeleOp")
+@Disabled
 public class MotifShooterTeleOp extends LinearOpMode {
 
     private ColorSensors sensors;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TestingTeleOps/UrsaTestTele.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TestingTeleOps/UrsaTestTele.java
@@ -2,6 +2,7 @@
 
 import com.bylazar.configurables.annotations.Configurable;
 import com.pedropathing.geometry.Pose;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
 
@@ -15,9 +16,8 @@
 
 import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
 
-
+@Disabled
 @Configurable
-@TeleOp(name = "Ursa TeleOp")
 public class UrsaTestTele extends OpMode {
 
     // Subsystems
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Subsystems/OdoAim.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Subsystems/OdoAim.java
@@ -128,14 +128,26 @@ public void aim() {
     }
 
     // ================= OFFSET CONTROLS =================
-    public void changeTarget(boolean dpadRight, boolean dpadLeft) {
+    public void changeTargetX(boolean dpadRight, boolean dpadLeft) {
         if (dpadRight) {
+            // Example: move turret target slightly forward in X
             targetPose = new Pose(targetPose.getX() + 3, targetPose.getY());
         }
         if (dpadLeft) {
+            // Example: move turret target slightly backward in X
             targetPose = new Pose(targetPose.getX() - 3, targetPose.getY());
         }
     }
+    public void changeTargetY(boolean dpadUp, boolean dpadDown) {
+        if (dpadUp) {
+            // Example: move turret target slightly forward in Y
+            targetPose = new Pose(targetPose.getX() , targetPose.getY() + 3);
+        }
+        if (dpadDown) {
+            // Example: move turret target slightly backward in X
+            targetPose = new Pose(targetPose.getX() , targetPose.getY() - 3);
+        }
+    }
 
     public void resetOffset() {
         manualOffsetRad = 0.0;
@@ -189,17 +201,6 @@ public void syncToCurrentPosition() {
         manualOffsetRad = 0.0;
     }
 
-    public void recalibration(Follower follower) {
-        this.follower = follower;
-
-        Pose currentPose = follower.getPose();
-
-        double newX = currentPose.getX() + 15.0;
-        double newY = currentPose.getY() - 17.0;
-
-        targetPose = new Pose(newX, newY);
-    }
-
     public void restoreFromStorage(double storedTurretRadians) {
 
         turretPosition = storedTurretRadians;
@@ -209,4 +210,7 @@ public void restoreFromStorage(double storedTurretRadians) {
 
         manualOffsetRad = 0.0;
     }
+    public Pose getTargetPose(){
+        return targetPose;
+    }
 }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Subsystems/OdoAimBlue.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Subsystems/OdoAimBlue.java

Original file line number	Diff line number	Diff line change
`@@ -1,4 +1,4 @@`
`1`		`-package org.firstinspires.ftc.teamcode.OpModes.TestingAutos;`
	`1`	`+package org.firstinspires.ftc.teamcode.OpModes.Autos;`
`2`	`2`
`3`	`3`	`import com.pedropathing.follower.Follower;`
`4`	`4`	`import com.pedropathing.ftc.drivetrains.MecanumConstants;`
Original file line number	Diff line number	Diff line change
`@@ -9,7 +9,6 @@`
`9`	`9`	`import com.qualcomm.robotcore.hardware.HardwareMap;`
`10`	`10`
`11`	`11`	`@Disabled`
`12`		`-@TeleOp(name = "ScrimBotTelop")`
`13`	`12`	`public class ScrimBotTelop extends OpMode{`
`14`	`13`	`private DcMotorEx Lr;`
`15`	`14`	`private DcMotorEx Rr;`
`@@ -107,4 +106,4 @@ public void loop() {`
`107`	`106`	`IfLeftTriggerPress = false;`
`108`	`107`	`}`
`109`	`108`	`}`
`110`		`-}`
	`109`	`+}`