Dear lord do not mess with the sloth config if you know whats good for you

Author: wesleybrown1928

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TeleOps/BlueNoAutoTele.java

@@ -45,11 +45,10 @@ public class BlueNoAutoTele extends OpMode {
     @Override
     public void init() {
         follower = Constants.createFollower(hardwareMap);
-       // follower.setStartingPose(new Pose(135.62616822429905, 8.635514018691586, Math.toRadians(0)));
-        follower.setStartingPose(new Pose(135.6261682242990, 8.635514018691586, Math.toRadians(0)));
+        follower.setStartingPose(new Pose(144, 0, Math.toRadians(0)));
 
-        odoAim = new OdoAimBlue(hardwareMap, follower, true);
-        flywheel = new BlueTeleFlywheelConstants(hardwareMap, follower, true);
+        odoAim = new OdoAimBlue(hardwareMap, follower, false);
+        flywheel = new BlueTeleFlywheelConstants(hardwareMap, follower, false);
 
         sensors = new ColorSensors();
         sensors.init(hardwareMap);
@@ -206,6 +205,8 @@ public void loop() {
 
         telemetry.addData("Turret Tracking Enabled", turretTrackingEnabled);
         telemetry.addData("Turret Offset (deg)", odoAim.getOffsetDegrees());
+        telemetry.addData("target position X", odoAim.getTargetPose().getX());
+        telemetry.addData("target position X", odoAim.getTargetPose().getY());
         telemetry.update();
     }
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpModes/TeleOps/RedNoAutoTele.java

@@ -45,7 +45,7 @@ public class RedNoAutoTele extends OpMode {
     @Override
     public void init() {
         follower = Constants.createFollower(hardwareMap);
-        follower.setStartingPose(new Pose(8.672897196261653, 9.30841121495326, Math.toRadians(0)));
+        follower.setStartingPose(new Pose(8.672897196261653, 9.30841121495326, Math.toRadians(180)));
         odoAim = new OdoAim(hardwareMap, follower, true);
         flywheel = new TeleFlywheelConstants(hardwareMap, follower, true);
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Subsystems/FlywheelConstants/TeleFlywheelConstants.java

@@ -19,8 +19,8 @@ public class TeleFlywheelConstants {
     // ================= LINEAR REGRESSION CONSTANTS =================
 
     // RPM Regression
-    private static final double RPM_SLOPE = 20;
-    private static final double RPM_INTERCEPT = 1100;
+    private static final double RPM_SLOPE = 18.5;
+    private static final double RPM_INTERCEPT = 1000;
 
     // Hood Regression
     private static final double HOOD_SLOPE = -0.550766;
@@ -105,7 +105,7 @@ private double getRegressionRPM(double distance) {
     // ================= HOOD REGRESSION =================
     private double getRegressionHood(double distance) {
         double angle = HOOD_SLOPE * distance + HOOD_INTERCEPT;
-        return Math.max(-15, Math.min(120, angle));
+        return Math.max(0, Math.min(120, angle));
     }
 
     // ================= MOTOR CONTROL =================

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Subsystems/OdoAim.java

@@ -32,9 +32,8 @@ public class OdoAim {
     private double manualOffsetRad = 0.0;
     public static double OFFSET_STEP_RAD = Math.toRadians(3.0);
 
-    // ✅ TRUE CONSTANTS (never modified directly)
     public static final Pose REDTARGET = new Pose(150, 130);
-    public static final Pose REDTARGET_TELE = new Pose(150, 130);
+    public static final Pose REDTARGET_TELE = new Pose(125, 137);
 
     private final PIDFController limelightPIDF =
         new PIDFController(0.06, 0.0, 0.008, 0.0);
@@ -131,21 +130,21 @@ public void aim() {
     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());
+            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());
+            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);
+            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);
+            // Example: move turret target slightly backward in Y
+            targetPose = new Pose(targetPose.getX() , targetPose.getY() + 3);
         }
     }
 

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Subsystems/OdoAimBlue.java

@@ -33,7 +33,7 @@ public class OdoAimBlue {
     public static double OFFSET_STEP_RAD = Math.toRadians(3.0);
 
     Pose REDTARGET = new Pose(152.0 , 146.0 );
-    Pose BLUETARGET = new Pose(-3, 140.0);
+    Pose BLUETARGET = new Pose(21, 138.0);
 
     private final PIDFController limelightPIDF =
         new PIDFController(0.06, 0.0, 0.008, 0.0);
@@ -204,4 +204,7 @@ public void restoreFromStorage(double storedTurretRadians) {
 
         manualOffsetRad = 0.0;
     }
+    public Pose getTargetPose(){
+        return targetPose;
+    }
 }