Pid

lib/RoboLib

@@ -1 +1 @@
-Subproject commit 840c851253187081a50ca9492c032cec8d376e7b
+Subproject commit c0478b01a526712b8308ac329017857177a3c876

src/main/deploy/pathplanner/autos/1. Hub to Shoot.auto

@@ -0,0 +1,88 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1.1 Hub to Shoot"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "ChassisAlignShoot"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 10.0
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1.2 Shoot to Depot Path"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "RunIntake"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 10.0
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1.3 Depot to Shoot Path"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "ChassisAlignShoot"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 10.0
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/9. Chaos Monkey.auto

@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "9.1 Chaos Monkey Path"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot preload"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/HUB_START.auto

@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HUB_START"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/LEFT_TRENCH_START.auto

@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "LEFT_TRENCH_START"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/RIGHT_TRENCH_START.auto

@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "RIGHT_TRENCH_START"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Shoot 8. Hub.auto

@@ -23,7 +23,7 @@
               {
                 "type": "named",
                 "data": {
-                  "name": "ChassisAlignShoot"
+                  "name": "TurretShoot"
                 }
               }
             ]

src/main/deploy/pathplanner/paths/1.1 Hub to Shoot Path.path

@@ -0,0 +1,58 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 4.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 4.0
+      },
+      "prevControl": {
+        "x": 2.5,
+        "y": 4.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.5,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -177.9047474356738
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+<<<<<<< HEAD:src/main/deploy/pathplanner/paths/Hub to Depot.path
+    "rotation": -179.99999999992184
+=======
+    "rotation": -179.69626968995792
+>>>>>>> c2fa27aa5cc22124b930645e802b8176658edb7a:src/main/deploy/pathplanner/paths/1.1 Hub to Shoot Path.path
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/1.1 Hub to Shoot.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
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+        "y": 4.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 4.0
+      },
+      "prevControl": {
+        "x": 2.75,
+        "y": 4.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 177.4888349270938
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -179.0393266954795
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/1.2 Shoot to Depot Path.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.2144854970378125,
+        "y": 3.8554998234204434
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.0,
+        "y": 6.0
+      },
+      "prevControl": {
+        "x": 1.2166471375173105,
+        "y": 5.875244167248359
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -178.09121133641756
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.4910281334858283
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/1.3 Depot to Shoot Path.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.0,
+        "y": 6.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.453699105174549,
+        "y": 6.084627986890304
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
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+        "y": 4.0
+      },
+      "prevControl": {
+        "x": 2.266577414275921,
+        "y": 3.829411518660614
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.5,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 100.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
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+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -179.02897806892076
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -179.69626968995792
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/9.1 Chaos Monkey Path.path

@@ -0,0 +1,102 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5184925161825644,
+        "y": 7.5345006466771025
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.489963675146704,
+        "y": 7.219438447522688
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.6,
+        "y": 6.812200117368956
+      },
+      "prevControl": {
+        "x": 7.532870181778978,
+        "y": 7.8099443669167
+      },
+      "nextControl": {
+        "x": 7.650893142287796,
+        "y": 6.055780073270545
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.6,
+        "y": 0.9617601315610045
+      },
+      "prevControl": {
+        "x": 7.654625343431328,
+        "y": 1.468826273060325
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+        "y": 0.2917349428743933
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+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.5,
+        "y": 0.6692650602433468
+      },
+      "prevControl": {
+        "x": 1.096874747061515,
+        "y": 0.6440356562159093
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.2332261810856255,
+      "rotationDegrees": -90.0
+    },
+    {
+      "waypointRelativePos": 1.7516108262639798,
+      "rotationDegrees": 0.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
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+    "rotation": -1.2282908533168928
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -0.1533900770684255
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/HUB_START.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.519556041182133,
+        "y": 4.059804750409042
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.769556041182133,
+        "y": 4.059804750409042
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.519556041182133,
+        "y": 4.059804750409042
+      },
+      "prevControl": {
+        "x": 3.269556041182133,
+        "y": 4.059804750409042
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/LEFT_TRENCH_START.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.423545951843262
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.25,
+        "y": 7.423545951843262
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.423545951843262
+      },
+      "prevControl": {
+        "x": 3.75,
+        "y": 7.423545951843262
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/M. Depot. .path

@@ -88,7 +88,7 @@
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
+    "maxAngularVelocity": 360.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
     "unlimited": false

src/main/deploy/pathplanner/paths/RIGHT_TRENCH_START.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 0.6236959156237152
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.25,
+        "y": 0.6236959156237152
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 0.6236959156237152
+      },
+      "prevControl": {
+        "x": 3.75,
+        "y": 0.6236959156237152
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Relay. L-Tr..path

@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.5055180722891564,
-        "y": 7.466301204819277
+        "x": 3.5383012048192777,
+        "y": 7.4553734939759035
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.505518072289158,
-        "y": 7.466301204819277
+        "x": 4.538301204819281,
+        "y": 7.4553734939759035
       },
       "isLocked": false,
       "linkedName": null
@@ -174,7 +174,7 @@
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
+    "maxAngularVelocity": 360.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
     "unlimited": false

src/main/deploy/pathplanner/paths/Relay. R-Tr..path

@@ -85,7 +85,7 @@
       },
       "prevControl": {
         "x": 6.020824888067715,
-        "y": 0.8531028227756466
+        "y": 0.8531028227756465
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@@ -178,7 +178,7 @@
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
+    "maxAngularVelocity": 360.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
     "unlimited": false

src/main/deploy/pathplanner/paths/S. Hub. shoot 8. E-Hub.path

@@ -32,12 +32,12 @@
     },
     {
       "anchor": {
-        "x": 2.9483700538099855,
+        "x": 2.677383349903843,
         "y": 4.00221686746988
       },
       "prevControl": {
-        "x": 2.5986833068220334,
-        "y": 4.024072289156626
+        "x": 2.4274139067638107,
+        "y": 4.006125511257969
       },
       "nextControl": null,
       "isLocked": false,
@@ -68,7 +68,7 @@
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
+    "maxAngularVelocity": 360.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
     "unlimited": false

src/main/deploy/pathplanner/paths/S. L-Tre. Preload..path

@@ -16,27 +16,27 @@
     },
     {
       "anchor": {
-        "x": 2.3581084337349396,
+        "x": 2.1723373493975906,
         "y": 4.00221686746988
       },
       "prevControl": {
-        "x": 1.3581084337349396,
-        "y": 4.00221686746988
+        "x": 1.8772891566265066,
+        "y": 4.024072289156626
       },
       "nextControl": {
-        "x": 3.3581084337349396,
-        "y": 4.00221686746988
+        "x": 2.421654288011768,
+        "y": 3.9837489460910525
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 3.48366265060241,
+        "x": 2.1723373493975906,
         "y": 4.00221686746988
       },
       "prevControl": {
-        "x": 3.133975903614458,
+        "x": 1.8226506024096385,
         "y": 3.9912891566265065
       },
       "nextControl": null,
@@ -44,12 +44,7 @@
       "linkedName": null
     }
   ],
-  "rotationTargets": [
-    {
-      "waypointRelativePos": 0.936692913385826,
-      "rotationDegrees": 180.0
-    }
-  ],
+  "rotationTargets": [],
   "constraintZones": [],
   "pointTowardsZones": [],
   "eventMarkers": [
@@ -68,7 +63,7 @@
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
+    "maxAngularVelocity": 360.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
     "unlimited": false

src/main/deploy/pathplanner/paths/S. R-Trench. E-Hub.path

@@ -68,7 +68,7 @@
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
+    "maxAngularVelocity": 360.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
     "unlimited": false

src/main/deploy/pathplanner/paths/Spin.path

@@ -72,7 +72,7 @@
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
+    "maxAngularVelocity": 360.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
     "unlimited": false

src/main/deploy/pathplanner/settings.json

@@ -6,7 +6,7 @@
   "autoFolders": [],
   "defaultMaxVel": 3.0,
   "defaultMaxAccel": 3.0,
-  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngVel": 360.0,
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,
   "robotMass": 44.4521,

src/main/java/frc/robot/Constants.java

@@ -1,38 +1,42 @@
 // Copyright (c) FIRST and other WPILib contributors.
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
+import com.ctre.phoenix6.signals.InvertedValue;
+
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform2d;
-import edu.wpi.first.units.Units;
+import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.units.measure.Angle;
 
-import com.ctre.phoenix6.signals.InvertedValue;
-
 /**
- * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants. This class should not be used for any other purpose. All constants should be declared
- * globally (i.e. public static). Do not put anything functional in this class.
+ * The Constants class provides a convenient place for teams to hold robot-wide
+ * numerical or boolean constants. This class should not be used for any other
+ * purpose. All constants should be declared globally (i.e. public static). Do
+ * not put anything functional in this class.
  *
- * <p>It is advised to statically import this class (or one of its inner classes) wherever the
- * constants are needed, to reduce verbosity.
+ * <p>
+ * It is advised to statically import this class (or one of its inner classes)
+ * wherever the constants are needed, to reduce verbosity.
  */
 public final class Constants {
+
     public static class OperatorConstants {
+
         public static final int kDriverControllerPort = 0;
     }
 
     public static class CameraConstanst {
 
         public static class IDFilters {
-      public static final int[] RED_HUB_SHOOTING_IDS = new int[]{ 8, 9, 10, 11 };
-      public static final int[] BLUE_HUB_SHOOTING_IDS = new int[]{ 27, 26, 25, 24 };
+
+            public static final int[] RED_HUB_SHOOTING_IDS = new int[]{8, 9, 10, 11};
+            public static final int[] BLUE_HUB_SHOOTING_IDS = new int[]{27, 26, 25, 24};
         }
 
         public static final String BACK_CAMERA_NAME = "limelight-back";
@@ -42,11 +46,21 @@ public final class Constants {
 
         public static final String FRONT_CAMERA_NAME = "limelight-front";
         public static final int FRONT_LOCALIZATION_PIPELINE_NUMBER = 0;
+        public static final double[] BLUE_ZONE_COOR = new double[]{0, 3.5};
+        public static final double[] RED_ZONE_COOR = new double[]{13, 16};
+        public static final double[] NEUTRAL_ZONE_COOR = new double[]{5.5, 11};
+        public static final double[] NEUTRAL1_ZONE_COOR = new double[]{5.5, 11, 0, 3};
+        public static final double[] NEUTRAL2_ZONE_COOR = new double[]{5.5, 11, 5, 8};
+        public static final double[] BLUE1_ZONE_COOR = new double[]{0, 3.5, 0, 3};
+        public static final double[] BLUE2_ZONE_COOR = new double[]{0, 3.5, 5, 8};
+        public static final double[] RED1_ZONE_COOR = new double[]{13, 16, 0, 3};
+        public static final double[] RED2_ZONE_COOR = new double[]{13, 16, 5, 8};
 
     }
 
-  public static class AdvantageKitConstants{
-    public enum RobotType{
+    public static class AdvantageKitConstants {
+
+        public enum RobotType {
             SIM,
             REAL,
             REPLAY
@@ -54,12 +68,15 @@ public final class Constants {
         public static final RobotType CURRENT_MODE = RobotType.REAL;
     }
     // Swerve offsets as of 3/2/26
+
     public static class SwerveDriveOffsets {
+
         public static final float FRONT_LEFT_MOTOR_OFFSET = -0.336426f;
         public static final float FRONT_RIGHT_MOTOR_OFFSET = 0.108887f;
         public static final float BACK_LEFT_MOTOR_OFFSET = -0.492432f;
         public static final float BACK_RIGHT_MOTOR_OFFSET = 0.470215f;
     }
+
     /*
    * Numbers starting with 1 (E.g. 11, 12, 13) are in the Front Left of the robot
    * Numbers starting with 2 (E.g. 21, 22, 23) are in the Front Right of the robot
@@ -69,6 +86,7 @@ public final class Constants {
    * Single diget numbers (E.g. 1, 2, 3) are extra, non-motor, pieces that require IDs, such as the Pigeon
      */
     public static class SwerveDriveIDs {
+
         public static final int FRONT_LEFT_STEER_ID = 11;
         public static final int FRONT_LEFT_DRIVE_ID = 12;
         public static final int FRONT_LEFT_ENCODER_ID = 13;
@@ -83,8 +101,9 @@ public final class Constants {
         public static final int BACK_RIGHT_ENCODER_ID = 43;
     }
 
-  public static class RobotChassisLimits{
+    public static class RobotChassisLimits {
         // Max velocity in meters per second
+
         public static final double MAX_ROBOT_LINEAR_VELOCITY = 3;
         // In meters per second squared
         public static final double MAX_ROBOT_LINEAR_VELOCITY_ACCEL = 2;
@@ -97,10 +116,12 @@ public final class Constants {
 
     //Bird
     public static class ExtraIDEntities {
+
         public static final int PIGEON_ID = 1;
     }
 
     public static class IntakeConstants {
+
         public static final int DEPLOY_MOTOR_ID = 17;
         public static final boolean DEPLOY_MOTOR_INVERTED = true; // TODO: Test this
 
@@ -109,6 +130,7 @@ public final class Constants {
     }
 
     public static class ShooterConstants {
+
         public static final int LAUNCHER_MOTOR_ID = 3;
         public static final boolean LAUNCHER_MOTOR_INVERTED = false;
 
@@ -117,7 +139,7 @@ public final class Constants {
         public static final int TURRET_LIMIT_CHANNEL = 9;
         public static final Angle LIMIT_AXIMUTH_POS = edu.wpi.first.units.Units.Degrees.of(165);
         public static final Angle LIMIT_AXIMUTH_NEG = edu.wpi.first.units.Units.Degrees.of(5);
-    public static final double HOMING_SPEED = .35;
+        public static final double HOMING_SPEED = .05;
         public static final double TURRET_GEAR_RATIO = 6;
 
         public static final int HOOD_SERVO_CHANNEL = 0;
@@ -129,11 +151,12 @@ public final class Constants {
         public static final double DEFLECTOR_STORED_ANGLE = 0;
         public static final double DEFLECTOR_SET_ANGLE1 = 100;
         public static final double DEFLECTOR_SET_ANGLE2 = 200;
-    public static final double DEFLECTOR_SET_ANGLE3 = 200; // Return to 300 once hood is fixed
+        public static final double DEFLECTOR_SET_ANGLE3 = 300;
         public static final double DEFLECTOR_SERVO_RATIO = 1.0;
     }
 
     public static class HopperConstants {
+
         public static final int KICKER_MOTOR_ID = 9;
         public static final InvertedValue KICKER_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive;
 
@@ -142,10 +165,56 @@ public final class Constants {
     }
 
     public static class FieldPoses {
+
         private static AprilTagFieldLayout fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltWelded);
 
         public static Pose3d BLUE_HUB_POSE = fieldTags.getTagPose(26).get().transformBy(new Transform3d(new Transform2d(-0.5207, 0, Rotation2d.kZero)));
         public static Pose3d RED_HUB_POSE = fieldTags.getTagPose(10).get().transformBy(new Transform3d(new Transform2d(-0.5207, 0, Rotation2d.kZero)));
 
+        // These are the field targets for passing fuel to the Alliance Zone or to the Neutral Zone from the opponent's side.
+        // Left/Right are from driver's perspective. Coordinates assume origin at blue side of field.
+        // Rotation are zero because they don't matter.
+        public static Pose3d BLUE_LEFT_ALLIANCE_ZONE_PASS_TARGET_POSE = new Pose3d(1.99, 6.35, 0, new Rotation3d());
+        public static Pose3d BLUE_RIGHT_ALLIANCE_ZONE_PASS_TARGET_POSE = new Pose3d(1.99, 1.72, 0, new Rotation3d());
+        public static Pose3d BLUE_LEFT_NEUTRAL_ZONE_PASS_TARGET_POSE = new Pose3d(8.27, 6.35, 0, new Rotation3d());
+        public static Pose3d BLUE_RIGHT_NEUTRAL_ZONE_PASS_TARGET_POSE = new Pose3d(8.27, 1.72, 0, new Rotation3d());
+
+        public static Pose3d RED_LEFT_ALLIANCE_ZONE_PASS_TARGET_POSE = new Pose3d(14.55, 1.72, 0, new Rotation3d());
+        public static Pose3d RED_RIGHT_ALLIANCE_ZONE_PASS_TARGET_POSE = new Pose3d(14.55, 6.35, 0, new Rotation3d());
+        public static Pose3d RED_LEFT_NEUTRAL_ZONE_PASS_TARGET_POSE = new Pose3d(8.27, 1.72, 0, new Rotation3d());
+        public static Pose3d RED_RIGHT_NEUTRAL_ZONE_PASS_TARGET_POSE = new Pose3d(8.27, 6.35, 0, new Rotation3d());
+
+
+    }
+
+    // These represent the dividing lines for the regions in our shooting strategy.
+    public static class ShootingRegionDimensions {
+
+        public static double BLUE_ALLIANCE_ZONE_REGION_X_MAX = 3.5;
+        public static double RED_ALLIANCE_ZONE_REGION_X_MIN = 13.0;
+        public static double NEUTRAL_ZONE_REGION_X_MIN = 5.5;
+        public static double NEUTRAL_ZONE_REGION_X_MAX = 11.0;
+        public static double BLUE_RIGHT_REGION_Y_MAX = 3.0;
+        public static double RED_LEFT_REGION_Y_MAX = 3.0;               // same meaning as the previous one, but from red perspective
+        public static double BLUE_LEFT_REGION_Y_MIN = 5.0;
+        public static double RED_RIGHT_REGION_Y_MIN = 5.0;              // same meaning as the previous one, but from red perspective
+
+    }
+
+    // Regions that define the AutoTurret shooting behaviors.
+    // Color ID in the name reflects robot's alliance since region definitions vary by alliance.
+    // Left/Right are from driver's perspective.
+    public enum ShootingRegion {
+        NON_SHOOTING_REGION,                // Any part of the field that's not in one of the regions
+        BLUE_OWN_ALLIANCE_ZONE,
+        BLUE_LEFT_NEUTRAL_ZONE,
+        BLUE_RIGHT_NEUTRAL_ZONE,
+        BLUE_LEFT_OPPONENT_ALLIANCE_ZONE,
+        BLUE_RIGHT_OPPONENT_ALLIANCE_ZONE,
+        RED_OWN_ALLIANCE_ZONE,
+        RED_LEFT_NEUTRAL_ZONE,
+        RED_RIGHT_NEUTRAL_ZONE,
+        RED_LEFT_OPPONENT_ALLIANCE_ZONE,
+        RED_RIGHT_OPPONENT_ALLIANCE_ZONE        
     }
 }

src/main/java/frc/robot/Robot.java

@@ -14,6 +14,8 @@ import org.littletonrobotics.junction.Logger;
 import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
+import com.ctre.phoenix6.swerve.SwerveModule;
+
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
@@ -90,6 +92,9 @@ public class Robot extends LoggedRobot {
 
     // Run all POST tests after robot has been initialized
     PostyManager.getInstance().runAllPOSTs();
+
+
+    m_robotContainer.driveSubsystem.driveSystem.setBrakeMode(false);
   }
 
   /**
@@ -117,6 +122,7 @@ public class Robot extends LoggedRobot {
   /** This function is called once each time the robot enters Disabled mode. */
   @Override
   public void disabledInit() {
+    m_robotContainer.driveSubsystem.driveSystem.setBrakeMode(true);
   }
 
   @Override

src/main/java/frc/robot/RobotContainer.java

@@ -1,24 +1,20 @@
 // Copyright (c) FIRST and other WPILib contributors.
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
 import com.pathplanner.lib.auto.NamedCommands;
 
-import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.GenericHID.RumbleType;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.Constants.OperatorConstants;
 import frc.robot.commands.AutoShootCommandChassisTurret;
-import frc.robot.commands.AutoShootCommandChassisTurretPathPlanner;
 import frc.robot.commands.AutoTurretCommand;
-import frc.robot.commands.ManualHopperCommand;
-import frc.robot.commands.ManualIntake;
-import frc.robot.commands.ManualShootCommand;
-import frc.robot.commands.RelayCommand;
+import frc.robot.commands.AutoTurretShootCommand;
+import frc.robot.commands.Reverse;
 import frc.robot.commands.SetDeflectorCommand;
 import frc.robot.subsystems.DriveSubsystem;
 import frc.robot.subsystems.HopperSubsystem;
@@ -26,16 +22,18 @@ import frc.robot.subsystems.IntakeSubsystem;
 import frc.robot.subsystems.TurretSubsystem;
 
 /**
- * This class is where the bulk of the robot should be declared. Since Command-based is a
- * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
- * subsystems, commands, and trigger mappings) should be declared here.
+ * This class is where the bulk of the robot should be declared. Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * commands, and trigger mappings) should be declared here.
  */
 public class RobotContainer {
     // The robot's subsystems and commands are defined here...
     // Replace with CommandPS4Controller or CommandJoystick if needed
-  private final CommandXboxController m_driverController =
-      new CommandXboxController(OperatorConstants.kDriverControllerPort);
+
+    private final CommandXboxController m_driverController
+            = new CommandXboxController(OperatorConstants.kDriverControllerPort);
 
     // private final CommandPS4Controller m_driverController = new CommandPS4Controller(OperatorConstants.kDriverControllerPort);
     public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController);
@@ -46,44 +44,49 @@ public class RobotContainer {
 
     public final HopperSubsystem hopperSubsystem = new HopperSubsystem();
 
-  /** The container for the robot. Contains subsystems, OI devices, and commands. */
+    /**
+     * The container for the robot. Contains subsystems, OI devices, and
+     * commands.
+     */
     public RobotContainer() {
 
         // turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem));
         // turretSubsystem.homeTurret();
-
         // Configure the trigger bindings
         configureBindings();
 
         NamedCommands.registerCommand("ChassisAlignShoot", new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
+        NamedCommands.registerCommand("RunIntake", intakeSubsystem.intake(m_driverController.getHID()));
+        NamedCommands.registerCommand("TurretShoot", new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem));
 
+        turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem));
     }
 
     /**
-   * Use this method to define your trigger->command mappings. Triggers can be created via the
-   * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary
-   * predicate, or via the named factories in {@link
+     * Use this method to define your trigger->command mappings. Triggers can be
+     * created via the
+     * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor
+     * with an arbitrary predicate, or via the named factories in {@link
      * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link
      * CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller
      * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight
      * joysticks}.
-   * */
-
+     *
+     */
     private void configureBindings() {
-    m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE));
-    m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1));
-    m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3));
-    m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2));
-
-    m_driverController.back().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem));
-    //m_driverController.a().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem));
-    // m_driverController:wa.a().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
+        // m_driverController.povDown().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE));
+        // m_driverController.povLeft().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE1));
+        // m_driverController.povRight().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3));
+        // m_driverController.povUp().onTrue(new SetDeflectorCommand(turretSubsystem, Constants.ShooterConstants.DEFLECTOR_SET_ANGLE2));
 
+        //m_driverController.back().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem));
         m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem));
-    m_driverController.rightBumper().onTrue(intakeSubsystem.intake());
-    m_driverController.y().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem));
+        m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake(m_driverController.getHID())));
         m_driverController.start().whileTrue(intakeSubsystem.resetDeploy());
-    m_driverController.x().whileTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
+        m_driverController.a().whileTrue((new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)));
+        m_driverController.x().whileTrue((new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)));
+        m_driverController.b().whileTrue(new Reverse(intakeSubsystem, hopperSubsystem, m_driverController.getHID()));
+        m_driverController.y().onTrue(intakeSubsystem.deploy());
     }
 
     /**
@@ -93,6 +96,8 @@ public class RobotContainer {
      */
     public Command getAutonomousCommand() {
         // An example command will be run in autonomous
-    return Commands.parallel(intakeSubsystem.deploy(), Commands.run(()-> {turretSubsystem.homeTurret();}, turretSubsystem),  driveSubsystem.getAutoCommand());
+        return Commands.parallel(intakeSubsystem.deploy(), Commands.run(() -> {
+            turretSubsystem.homeTurret();
+        }, turretSubsystem), driveSubsystem.getAutoCommand());
     }
 }

src/main/java/frc/robot/Utils.java

@@ -1,5 +1,15 @@
 package frc.robot;
 
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import frc.robot.Constants;
+import frc.robot.Constants.ShootingRegion;
+import frc.robot.Constants.ShootingRegionDimensions;
+
+import org.littletonrobotics.junction.Logger;
+
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.units.measure.Angle;
+
 public class Utils {
     
     /**
@@ -22,4 +32,142 @@ public class Utils {
         return robotTurretRotations;
     }
 
+
+
+    /**
+     * Determines the region for the robot based on its location and alliance.
+     * Assumes the robot is a 27" square. Thresholds based on observations from simulator.
+     * @param robotPose: the robot's pose
+     * @param alliance: the red/blue alliance of the robot, as a sanity check
+     * @return the robot's shooting region
+     */
+    public static ShootingRegion findRobotShootingRegion(Pose3d robotPose, Alliance alliance){
+        ShootingRegion region = Constants.ShootingRegion.NON_SHOOTING_REGION;   // the default return value if robot isn't in a valid region
+        double robotX = robotPose.getX();
+        double robotY = robotPose.getY();
+
+        // Receommended: Add a sanity check for invalid robot poses.
+
+        if (alliance == Alliance.Blue) {
+            if (robotX < Constants.ShootingRegionDimensions.BLUE_ALLIANCE_ZONE_REGION_X_MAX) {
+                region = Constants.ShootingRegion.BLUE_OWN_ALLIANCE_ZONE;
+                }
+            else if (robotX > Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MIN &&
+                     robotX < Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MAX &&
+                     robotY > Constants.ShootingRegionDimensions.BLUE_LEFT_REGION_Y_MIN) {
+                        region = Constants.ShootingRegion.BLUE_LEFT_NEUTRAL_ZONE;
+                     }
+            else if (robotX > Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MIN &&
+                     robotX < Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MAX &&
+                     robotY < Constants.ShootingRegionDimensions.BLUE_RIGHT_REGION_Y_MAX) {
+                        region = Constants.ShootingRegion.BLUE_RIGHT_NEUTRAL_ZONE;                
+                     }
+            else if (robotX > Constants.ShootingRegionDimensions.RED_ALLIANCE_ZONE_REGION_X_MIN &&
+                     robotY > Constants.ShootingRegionDimensions.BLUE_LEFT_REGION_Y_MIN) {
+                        region = Constants.ShootingRegion.BLUE_LEFT_OPPONENT_ALLIANCE_ZONE;
+                     }
+            else if (robotX > Constants.ShootingRegionDimensions.RED_ALLIANCE_ZONE_REGION_X_MIN &&
+                     robotY < Constants.ShootingRegionDimensions.BLUE_RIGHT_REGION_Y_MAX) {
+                        region = Constants.ShootingRegion.BLUE_RIGHT_OPPONENT_ALLIANCE_ZONE;
+                     }
+        }
+        else if (alliance == Alliance.Red) {
+            if (robotX > Constants.ShootingRegionDimensions.RED_ALLIANCE_ZONE_REGION_X_MIN) {
+                region = Constants.ShootingRegion.RED_OWN_ALLIANCE_ZONE;
+                }
+            else if (robotX > Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MIN &&
+                     robotX < Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MAX &&
+                     robotY < Constants.ShootingRegionDimensions.RED_LEFT_REGION_Y_MAX) {
+                        region = Constants.ShootingRegion.RED_LEFT_NEUTRAL_ZONE;
+                     }
+            else if (robotX > Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MIN &&
+                     robotX < Constants.ShootingRegionDimensions.NEUTRAL_ZONE_REGION_X_MAX &&
+                     robotY > Constants.ShootingRegionDimensions.RED_RIGHT_REGION_Y_MIN) {
+                        region = Constants.ShootingRegion.RED_RIGHT_NEUTRAL_ZONE;
+                     }
+            else if (robotX < Constants.ShootingRegionDimensions.BLUE_ALLIANCE_ZONE_REGION_X_MAX &&
+                     robotY < Constants.ShootingRegionDimensions.RED_LEFT_REGION_Y_MAX) {
+                        region = Constants.ShootingRegion.RED_LEFT_OPPONENT_ALLIANCE_ZONE;
+                     }
+            else if (robotX > Constants.ShootingRegionDimensions.RED_ALLIANCE_ZONE_REGION_X_MIN &&
+                     robotY > Constants.ShootingRegionDimensions.RED_RIGHT_REGION_Y_MIN) {
+                        region = Constants.ShootingRegion.RED_RIGHT_OPPONENT_ALLIANCE_ZONE;
+                     }
+        }
+
+        Logger.recordOutput("Utils-ShootingRegion", region);
+
+        return region;
+    }
+
+    public static double getHoodAngleForDistance(double distanceInMeters){
+        if(distanceInMeters >= 4){
+            return 200;
+        }
+        return 0;
+    }
+
+    public static double getLauncherRPMForDistance(double distanceInMeters){ 
+        return Math.min((667.557*distanceInMeters) + 1500.699, 5000);
+    }
+
+    /**
+     * Determines the appropriate shooting target for the robot based on its alliance
+     * and its current region on the field. There are 10 possible targets:
+     * Scoring hub, 2x passing from Neutral Zone, 2x passing from opponent's Alliance Zone,
+     * and these exist for both red and blue alliances.
+     * Right/left are from driver's perspective.
+     * @param region: the identifier of the robot's current field region
+     * @param alliance: the red/blue alliance of the robot, as a sanity check
+     * @return the shooting target for a robot with the provided properties. Returns all-zero
+     * Pose3d object if the region/alliance combination is invalid.
+     */
+    public static Pose3d findShootingTarget(ShootingRegion region, Alliance alliance){
+
+        Pose3d shootingTarget = new Pose3d();
+        if (alliance == Alliance.Blue) {
+            switch (region) {
+                case BLUE_OWN_ALLIANCE_ZONE:
+                    shootingTarget = Constants.FieldPoses.BLUE_HUB_POSE;
+                    break;
+                case BLUE_LEFT_NEUTRAL_ZONE:
+                    shootingTarget = Constants.FieldPoses.BLUE_LEFT_ALLIANCE_ZONE_PASS_TARGET_POSE;
+                    break;
+                case BLUE_RIGHT_NEUTRAL_ZONE:
+                    shootingTarget = Constants.FieldPoses.BLUE_RIGHT_ALLIANCE_ZONE_PASS_TARGET_POSE;
+                    break;
+                case BLUE_LEFT_OPPONENT_ALLIANCE_ZONE:
+                    shootingTarget = Constants.FieldPoses.BLUE_LEFT_NEUTRAL_ZONE_PASS_TARGET_POSE;
+                    break;
+                case BLUE_RIGHT_OPPONENT_ALLIANCE_ZONE:
+                    shootingTarget = Constants.FieldPoses.BLUE_RIGHT_NEUTRAL_ZONE_PASS_TARGET_POSE;
+                    break;
+                default:
+                    break;
+            }
+        }
+        else if (alliance == Alliance.Red) {
+            switch (region) {
+                case RED_OWN_ALLIANCE_ZONE:
+                    shootingTarget = Constants.FieldPoses.RED_HUB_POSE;
+                    break;
+                case RED_LEFT_NEUTRAL_ZONE:
+                    shootingTarget = Constants.FieldPoses.RED_LEFT_ALLIANCE_ZONE_PASS_TARGET_POSE;
+                    break;
+                case RED_RIGHT_NEUTRAL_ZONE:
+                    shootingTarget = Constants.FieldPoses.RED_RIGHT_ALLIANCE_ZONE_PASS_TARGET_POSE;
+                    break;
+                case RED_LEFT_OPPONENT_ALLIANCE_ZONE:
+                    shootingTarget = Constants.FieldPoses.RED_LEFT_NEUTRAL_ZONE_PASS_TARGET_POSE;
+                    break;
+                case RED_RIGHT_OPPONENT_ALLIANCE_ZONE:
+                    shootingTarget = Constants.FieldPoses.RED_RIGHT_NEUTRAL_ZONE_PASS_TARGET_POSE;
+                    break;
+                default:
+                    break;
+            }
+        }
+        return shootingTarget;
+    }
+
 }

src/main/java/frc/robot/commands/AutoShootCommandChassisTurret.java

@@ -75,7 +75,7 @@ public class AutoShootCommandChassisTurret extends Command{
             }
         });
 
-        turretSubsystem.setLauncher(6000);
+        turretSubsystem.setLauncher(3000);
         turretSubsystem.setTargetElevation(Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE);
         hopperSubsystem.spindexerOn();
         cameraAutoCenterController.calculate(-100);

src/main/java/frc/robot/commands/AutoTurretCommand.java

@@ -17,6 +17,8 @@ import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants;
+import frc.robot.Constants.ShootingRegion;
+import frc.robot.Utils;
 import frc.robot.subsystems.DriveSubsystem;
 import frc.robot.subsystems.TurretSubsystem;
 
@@ -27,10 +29,7 @@ public class AutoTurretCommand extends Command {
     private TurretSubsystem turretSubsystem;
     private DriveSubsystem driveSubsystem;
 
-    private int[] shootingTagFilters;
-
-    private Pose3d closestTag;
-    private Pose3d scoringHubPose;
+    private Alliance alliance;
 
     public AutoTurretCommand(TurretSubsystem turretSubsystem, DriveSubsystem driveSubsystem) {
         this.turretSubsystem = turretSubsystem;
@@ -46,13 +45,12 @@ public class AutoTurretCommand extends Command {
 
         DriverStation.getAlliance().ifPresent((aliance) -> {
             if (aliance == Alliance.Blue) {
-                shootingTagFilters = Constants.CameraConstanst.IDFilters.BLUE_HUB_SHOOTING_IDS;
-                scoringHubPose = Constants.FieldPoses.BLUE_HUB_POSE;
+                turretSubsystem.setTurretTargetPose(Constants.FieldPoses.BLUE_HUB_POSE);
+                aliance = Alliance.Blue;
             } else {
-                shootingTagFilters = Constants.CameraConstanst.IDFilters.RED_HUB_SHOOTING_IDS;
-                scoringHubPose = Constants.FieldPoses.RED_HUB_POSE;
+                turretSubsystem.setTurretTargetPose(Constants.FieldPoses.RED_HUB_POSE);
+                aliance = Alliance.Red;
             }
-            Logger.recordOutput("AutoTurret-ScoringTarget", scoringHubPose);
         });
 
     }
@@ -60,18 +58,28 @@ public class AutoTurretCommand extends Command {
     @Override
     public void execute() {
 
+        ShootingRegion shootingRegion = Utils.findRobotShootingRegion(driveSubsystem.getBotPose(), DriverStation.getAlliance().get());
+
+        if(shootingRegion != ShootingRegion.NON_SHOOTING_REGION){
+            Pose3d targetPose = Utils.findShootingTarget(shootingRegion, DriverStation.getAlliance().get());
+
+            turretSubsystem.setTurretTargetPose(targetPose);
+        }
+
+        Logger.recordOutput("AutoTurret-ScoringTarget", turretSubsystem.getTurretTargetPose());
+
         Pose3d botPose = driveSubsystem.getBotPose();
         Pose3d turretPose = botPose.plus(new Transform3d(new Translation3d(CENTER_TURRET_TO_ROBOT),
-                new Rotation3d(Rotation2d.fromRotations(turretSubsystem.getTurretAngleRobotRelative()))));
+                new Rotation3d(Rotation2d.fromRotations(turretSubsystem.getTurretAngleRobotRelative() + 0.5))));
         Logger.recordOutput("AutoTurret-TurretPose", turretPose);
 
-        Translation2d targetTranslation = scoringHubPose.getTranslation().toTranslation2d().minus(turretPose.getTranslation().toTranslation2d());
+        Translation2d targetTranslation = turretSubsystem.getTurretTargetPose().getTranslation().toTranslation2d().minus(turretPose.getTranslation().toTranslation2d());
         Logger.recordOutput("AutoTurret-Translation", targetTranslation);
 
-
         if(turretSubsystem.isTurretReady()){
-            // turretSubsystem.setTurretFieldRelative(botPose.getRotation().toRotation2d().minus(targetTranslation.getAngle()).plus(Rotation2d.k180deg).getMeasure());
-            // turretSubsystem.setTurretRotation(Angle.ofRelativeUnits(-180, Units.Degrees));
+            turretSubsystem.setTurretFieldRelative(botPose, targetTranslation.getAngle().getRotations());
+            // turretSubsystem.setTurretRobotRelative(0.25);
+            // turretSubsystem.setTurretMotorRotation(0);
         }
 
     }

src/main/java/frc/robot/commands/AutoTurretShootCommand.java

@@ -0,0 +1,90 @@
+package frc.robot.commands;
+
+import org.littletonrobotics.junction.Logger;
+
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.units.Units;
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.Constants;
+import frc.robot.Utils;
+import frc.robot.subsystems.DriveSubsystem;
+import frc.robot.subsystems.HopperSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
+import frc.robot.subsystems.TurretSubsystem;
+
+public class AutoTurretShootCommand extends Command{
+
+    private HopperSubsystem hopperSubsystem;
+    private TurretSubsystem turretSubsystem;
+    private IntakeSubsystem intakeSubsystem;
+    private DriveSubsystem driveSubsystem;
+
+    private Command waitCommand = Commands.waitSeconds(1.5);
+
+    private Alliance alliance;
+    public AutoTurretShootCommand(HopperSubsystem hopperSubsystem, TurretSubsystem turretSubsystem, IntakeSubsystem intakeSubsystem, DriveSubsystem driveSubsystem){
+        this.hopperSubsystem = hopperSubsystem;
+        this.turretSubsystem = turretSubsystem;
+        this.intakeSubsystem = intakeSubsystem;
+        this.driveSubsystem = driveSubsystem;
+
+        addRequirements(hopperSubsystem, intakeSubsystem);
+    }
+    
+    @Override
+    public void initialize() {
+        hopperSubsystem.spindexerOn();
+        CommandScheduler.getInstance().schedule(waitCommand);
+        alliance = DriverStation.getAlliance().get();
+        Logger.recordOutput("AutoTurretShoot-State", "SHOOTING");
+    }
+
+    @Override
+    public void execute() {
+        double distance = turretSubsystem.getTurretTargetPose().toPose2d().getTranslation().getDistance(driveSubsystem.getBotPose().getTranslation().toTranslation2d());
+        Logger.recordOutput("AutoTurretShoot-DistanceToTarget(Meters)", distance);
+
+        turretSubsystem.setTargetElevation(Utils.getHoodAngleForDistance(distance));
+        turretSubsystem.setLauncher(Utils.getLauncherRPMForDistance(distance));
+
+        if(turretSubsystem.isLauncherUpToSpeed() && waitCommand.isFinished()){
+            hopperSubsystem.feedKicker();
+        }else{
+            hopperSubsystem.stopKicker();
+        }
+    }
+
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        waitCommand.cancel();
+        hopperSubsystem.spindexerOff();
+        hopperSubsystem.stopKicker();
+
+        turretSubsystem.setLauncher(0);
+        turretSubsystem.setTargetElevation(Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE);
+
+        Logger.recordOutput("AutoTurretShoot-State", "NOT SHOOTING");
+
+        DriverStation.getAlliance().ifPresent((aliance) -> {
+            if (aliance == Alliance.Blue) {
+                turretSubsystem.setTurretTargetPose(Constants.FieldPoses.BLUE_HUB_POSE);
+            } else {
+                turretSubsystem.setTurretTargetPose(Constants.FieldPoses.RED_HUB_POSE);
+            }
+        });
+
+        // turretSubsystem.setTurretMotorRotation(-0.34); // Return to 0 after MIAMI VALLEY
+    }
+
+}

src/main/java/frc/robot/commands/ManualHopperCommand.java

@@ -1,58 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.commands;
-
-import frc.robot.subsystems.HopperSubsystem;
-import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj2.command.Command;
-
-/** An example command that uses an example subsystem. */
-public class ManualHopperCommand extends Command {
-  private final HopperSubsystem m_subsystem;
-  private final XboxController m_xboxController;
-
-  public ManualHopperCommand(HopperSubsystem subsystem, XboxController xboxController) {
-    m_subsystem = subsystem;
-    m_xboxController = xboxController;
-    addRequirements(subsystem);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    m_subsystem.spindexerOn();
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    if(m_xboxController.getLeftTriggerAxis()>.5 && m_xboxController.getRightTriggerAxis()>.2)
-    {
-      m_subsystem.feedKicker();
-    }
-    else
-    {
-      m_subsystem.stopKicker();
-    }
-    if(m_xboxController.getRightBumper())
-    {
-      m_subsystem.spindexerOn();
-    }
-    if(m_xboxController.getLeftBumper())
-    {
-      m_subsystem.spindexerOff();
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

src/main/java/frc/robot/commands/ManualIntake.java

@@ -1,52 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.commands;
-
-import frc.robot.subsystems.IntakeSubsystem;
-
-import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj2.command.Command;
-
-/** An example command that uses an example subsystem. */
-public class ManualIntake extends Command {
-  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
-  private final IntakeSubsystem m_subsystem;
-  private final XboxController m_XboxController;
-
-  /**
-   * Creates a new ExampleCommand.
-   *
-   * @param subsystem The subsystem used by this command.
-   */
-  public ManualIntake(IntakeSubsystem subsystem, XboxController xboxController) {
-    m_subsystem = subsystem;
-    m_XboxController = xboxController;
-    // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(subsystem);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    if(m_XboxController.getYButton()==true)
-    {
-      m_subsystem.deploy();
-    }
-  }
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

src/main/java/frc/robot/commands/ManualShootCommand.java

@@ -1,48 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.commands;
-
-import frc.robot.subsystems.TurretSubsystem;
-import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.GenericHID.RumbleType;
-import edu.wpi.first.wpilibj2.command.Command;
-
-/** An example command that uses an example subsystem. */
-public class ManualShootCommand extends Command {
-  private final TurretSubsystem m_subsystem;
-  private final XboxController m_controller;
-
-  public ManualShootCommand(TurretSubsystem subsystem, XboxController controller) {
-    m_subsystem = subsystem;
-    m_controller = controller;
-    // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(subsystem);
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    if(m_controller.getRightTriggerAxis()>.5 && m_controller.getLeftTriggerAxis()==0)
-    {
-      m_subsystem.turretRotateDir(-.5);
-      m_controller.setRumble(RumbleType.kRightRumble, 1);
-    }
-    else if(m_controller.getLeftTriggerAxis()>.5 && m_controller.getRightTriggerAxis()==0)
-    {
-      m_subsystem.turretRotateDir(.5);
-      m_controller.setRumble(RumbleType.kLeftRumble, 1);
-    }
-    else
-    {
-      m_subsystem.turretRotateDir(0);
-      m_controller.setRumble(RumbleType.kBothRumble, 0);
-    }
-  }
-
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}

src/main/java/frc/robot/commands/RelayCommand.java

@@ -1,63 +0,0 @@
-package frc.robot.commands;
-
-import edu.wpi.first.units.Units;
-import edu.wpi.first.units.measure.Angle;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import edu.wpi.first.wpilibj2.command.Commands;
-import frc.robot.Constants;
-import frc.robot.subsystems.HopperSubsystem;
-import frc.robot.subsystems.IntakeSubsystem;
-import frc.robot.subsystems.TurretSubsystem;
-
-public class RelayCommand extends Command{
-
-    private HopperSubsystem hopperSubsystem;
-    private TurretSubsystem turretSubsystem;
-    private IntakeSubsystem intakeSubsystem;
-
-    private Command waitCommand = Commands.waitSeconds(1.5);
-
-    public RelayCommand(HopperSubsystem hopperSubsystem, TurretSubsystem turretSubsystem, IntakeSubsystem intakeSubsystem){
-        this.hopperSubsystem = hopperSubsystem;
-        this.turretSubsystem = turretSubsystem;
-        this.intakeSubsystem = intakeSubsystem;
-
-        addRequirements(hopperSubsystem, turretSubsystem, intakeSubsystem);
-    }
-    
-    @Override
-    public void initialize() {
-        turretSubsystem.setTargetElevation(Constants.ShooterConstants.DEFLECTOR_SET_ANGLE3);
-        turretSubsystem.setLauncher(6000);
-        hopperSubsystem.spindexerOn();
-        CommandScheduler.getInstance().schedule(waitCommand);
-        turretSubsystem.setTurretMotorRotation(1); // Return to 0 after MIAMI VALLEY
-    }
-
-    @Override
-    public void execute() {
-        if(turretSubsystem.isLauncherUpToSpeed() && waitCommand.isFinished()){
-            hopperSubsystem.feedKicker();
-        }else{
-            hopperSubsystem.stopKicker();
-        }
-    }
-
-    @Override
-    public boolean isFinished() {
-        return false;
-    }
-
-    @Override
-    public void end(boolean interrupted) {
-        waitCommand.cancel();
-        hopperSubsystem.spindexerOff();
-        hopperSubsystem.stopKicker();
-
-        turretSubsystem.setLauncher(0);
-        turretSubsystem.setTargetElevation(Constants.ShooterConstants.DEFLECTOR_STORED_ANGLE);
-        turretSubsystem.setTurretMotorRotation(-0.34); // Return to 0 after MIAMI VALLEY
-    }
-
-}

src/main/java/frc/robot/commands/Reverse.java

@@ -0,0 +1,57 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.HopperSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
+
+/**
+ * An example command that uses an example subsystem.
+ */
+public class Reverse extends Command {
+
+    private IntakeSubsystem intakeSubsystem;
+    private HopperSubsystem hopperSubsystem;
+    private XboxController m_XboxController;
+
+    /**
+     * Creates a new ExampleCommand.
+     *
+     * @param subsystem The subsystem used by this command.
+     */
+    public Reverse(IntakeSubsystem intakeSubsystem, HopperSubsystem hopperSubsystem, XboxController m_XboxController) {
+        this.intakeSubsystem = intakeSubsystem;
+        this.hopperSubsystem = hopperSubsystem;
+        this.m_XboxController = m_XboxController;
+    }
+
+    // Called when the command is initially scheduled.
+    @Override
+    public void initialize() {
+    }
+
+    // Called every time the scheduler runs while the command is scheduled.
+    @Override
+    public void execute() {
+        intakeSubsystem.reverseIntake();
+        hopperSubsystem.spindexerReverse();
+        hopperSubsystem.reverseKicker();
+    }
+
+    // Called once the command ends or is interrupted.
+    @Override
+    public void end(boolean interrupted) {
+        hopperSubsystem.stopKicker();
+        hopperSubsystem.spindexerOff();
+        intakeSubsystem.stopIntake(m_XboxController);
+    }
+
+    // Returns true when the command should end.
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+}

src/main/java/frc/robot/commands/ZoneCheck.java

@@ -0,0 +1,86 @@
+package frc.robot.commands;
+
+import org.fairportrobotics.frc.robolib.vision.limelight.LimelightHelpers;
+import org.littletonrobotics.junction.Logger;
+
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.apriltag.AprilTagFields;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants;
+import frc.robot.subsystems.DriveSubsystem;
+
+public class ZoneCheck extends Command {
+    private Zone zone;
+    private DriveSubsystem driveSubsystem;
+
+    public ZoneCheck(DriveSubsystem driveSubsystem)
+    {
+        this.driveSubsystem = driveSubsystem;
+    }
+
+    public enum Zone {
+        Blue,
+        Red,
+        Neutral,
+        INIT;
+    }
+
+    @Override
+    public void initialize() {
+        zone = Zone.INIT;
+    }
+
+    @Override
+    public void execute() {
+        getZone();
+        Logger.recordOutput("FieldZone", zone);
+        DriverStation.getAlliance().ifPresent((aliance) -> {
+            if (aliance == Alliance.Blue) {
+                switch (zone) {
+                    case Blue:
+                        System.out.println("BLUE");
+                            break;
+                    case Neutral:
+                        System.out.println("NEUTRAL");
+                            break;
+                    case Red:
+                        System.out.println("RED");
+                            break;
+                    default:
+                        System.out.println("****");
+                }
+            } else {
+                switch (zone) {
+                    case Blue:
+                        System.out.println("BLUE");
+                            break;
+                    case Neutral:
+                        System.out.println("NEUTRAL");
+                            break;
+                    case Red:
+                        System.out.println("RED");
+                            break;
+                    default:
+                        System.out.println("****");
+                }
+            }
+        });
+    }
+
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+
+    private void getZone() {
+        if (driveSubsystem.getBotPose().getX() >= Constants.CameraConstanst.RED_ZONE_COOR[0]) {
+            zone = Zone.Red;
+        } else if (driveSubsystem.getBotPose().getX() >= Constants.CameraConstanst.NEUTRAL_ZONE_COOR[0]) {
+            zone = Zone.Neutral;
+        } else {
+            zone = Zone.Blue;
+        }
+    }
+}

src/main/java/frc/robot/subsystems/DriveSubsystem.java

@@ -1,8 +1,9 @@
 package frc.robot.subsystems;
 
+import static org.fairportrobotics.frc.posty.assertions.Assertions.assertThat;
+
 import org.fairportrobotics.frc.posty.TestableSubsystem;
 import org.fairportrobotics.frc.posty.test.PostTest;
-import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
 import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveBuilder;
 import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveDriveSystem;
 import org.fairportrobotics.frc.robolib.drivesystems.swerve.SwerveModule;
@@ -10,11 +11,10 @@ import org.fairportrobotics.frc.robolib.vision.limelight.LimelightHelpers;
 import org.littletonrobotics.junction.Logger;
 
 import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.auto.NamedCommands;
-import com.pathplanner.lib.commands.PathPlannerAuto;
 import com.pathplanner.lib.config.PIDConstants;
 import com.pathplanner.lib.config.RobotConfig;
 import com.pathplanner.lib.controllers.PPHolonomicDriveController;
+import com.pathplanner.lib.util.PathPlannerLogging;
 
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -22,12 +22,12 @@ import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.RobotState;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-
 import frc.robot.Constants;
 
 public class DriveSubsystem extends TestableSubsystem {
@@ -35,7 +35,7 @@ public class DriveSubsystem extends TestableSubsystem {
     private SendableChooser<Command> autoChooser;
 
     private SwerveBuilder swerveBuilder = new SwerveBuilder();
-    private SwerveDriveSystem driveSystem;
+    public SwerveDriveSystem driveSystem;
 
     private double driveP = 0.1;
     private double driveI = 0.0;
@@ -135,9 +135,8 @@ public class DriveSubsystem extends TestableSubsystem {
                                 .build())
                 .build();
 
-
         // Set vision measurement confidence values
-        driveSystem.getPoseEstimator().setVisionMeasurementStdDevs(VecBuilder.fill(0.7, 0.7, 0.7, 999999));
+        driveSystem.getPoseEstimator().setVisionMeasurementStdDevs(VecBuilder.fill(0.7, 0.7, 0.7, 0.1));
 
         this.setDefaultCommand(Commands.run(new Runnable() {
 
@@ -150,7 +149,6 @@ public class DriveSubsystem extends TestableSubsystem {
 
                 Logger.recordOutput("RequestedSwerveState", driveSystem.getRequestedModuleStates());
                 Logger.recordOutput("ActualSwerveState", driveSystem.getActualModuleStates());
-                Logger.recordOutput("Pose Estimation", driveSystem.getRobotPose3d());
             }
 
         }, this));
@@ -163,10 +161,10 @@ public class DriveSubsystem extends TestableSubsystem {
                     driveSystem::getRobotPose2d,
                     driveSystem::setPose2d,
                     driveSystem::getRobotRelativeSpeeds,
-                    (speeds, feedforwards) -> driveSystem.setChassisSpeed(speeds, new Translation2d()),
+                    (speeds, feedforwards) -> {driveSystem.setChassisSpeed(ChassisSpeeds.fromRobotRelativeSpeeds(-speeds.vxMetersPerSecond, -speeds.vyMetersPerSecond, -speeds.omegaRadiansPerSecond, driveSystem.getRobotHeading()), new Translation2d());},
                     new PPHolonomicDriveController(
-                            new PIDConstants(1.5, 0, 0),
-                            new PIDConstants(Math.PI/2, 0, 0)),
+                            new PIDConstants(5, 0, 0),
+                            new PIDConstants(Math.PI, 0, 0)),
                     config,
                     () -> {
                         var alliance = DriverStation.getAlliance();
@@ -181,10 +179,15 @@ public class DriveSubsystem extends TestableSubsystem {
             autoChooser.setDefaultOption("Do Nothing", Commands.none());
             SmartDashboard.putData("Auto Chooser", autoChooser);
 
+            // PathPlannerLogging.setLogActivePathCallback((List<Pose2d> pose) -> {});
+            PathPlannerLogging.setLogTargetPoseCallback((Pose2d targetPose) -> { Logger.recordOutput("PathPlanner-TargetPose", targetPose);});
+
         } catch (Exception e) {
             e.printStackTrace();
         }
 
+        
+
     }
 
     @Override
@@ -194,16 +197,45 @@ public class DriveSubsystem extends TestableSubsystem {
 
         Logger.recordOutput("RobotPose", driveSystem.getRobotPose3d());
 
-        LimelightHelpers.PoseEstimate frontCameraPose = LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.CameraConstanst.FRONT_CAMERA_NAME);
-        if(frontCameraPose.tagCount >= 1){
-            driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(frontCameraPose.pose), frontCameraPose.timestampSeconds);
-            Logger.recordOutput("FrontPoseEstimate", frontCameraPose.pose);
+        LimelightHelpers.SetRobotOrientation(Constants.CameraConstanst.FRONT_CAMERA_NAME, driveSystem.getRobotPose2d().getRotation().getDegrees(), 0, 0, 0, 0, 0);
+        LimelightHelpers.SetRobotOrientation(Constants.CameraConstanst.BACK_CAMERA_NAME, driveSystem.getRobotPose2d().getRotation().getDegrees(), 0, 0, 0, 0, 0);
+
+        // MegaTag 2 impl
+        if(RobotState.isDisabled()){
+            LimelightHelpers.SetIMUMode(Constants.CameraConstanst.FRONT_CAMERA_NAME, 1);
+            LimelightHelpers.SetIMUMode(Constants.CameraConstanst.BACK_CAMERA_NAME, 1);
+        }else{
+            LimelightHelpers.SetIMUMode(Constants.CameraConstanst.FRONT_CAMERA_NAME, 4);
+            LimelightHelpers.SetIMUMode(Constants.CameraConstanst.BACK_CAMERA_NAME, 4);
         }
-        LimelightHelpers.PoseEstimate backCameraPose = LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.CameraConstanst.BACK_CAMERA_NAME);
-        if(backCameraPose.tagCount >= 1){
-            driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(backCameraPose.pose), backCameraPose.timestampSeconds);
-            Logger.recordOutput("BackPoseEstimate", backCameraPose.pose);
+
+        LimelightHelpers.PoseEstimate frontTag = LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.CameraConstanst.FRONT_CAMERA_NAME);
+        LimelightHelpers.PoseEstimate backTag = LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.CameraConstanst.BACK_CAMERA_NAME);
+
+        if(frontTag.tagCount >= 2){
+            driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(frontTag.pose), frontTag.timestampSeconds);
+            Logger.recordOutput("FrontPose-Estimate", frontTag.pose);
+            Logger.recordOutput("FrontPose-IsMegaTag2", frontTag.isMegaTag2);
         }
+
+        if(backTag.tagCount >= 2){
+            driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(backTag.pose), backTag.timestampSeconds);
+            Logger.recordOutput("BackPose-Estimate", backTag.pose);
+            Logger.recordOutput("BackPose-IsMegaTag2", frontTag.isMegaTag2);
+        }
+
+
+        // MegaTag 1 Impl
+        // LimelightHelpers.PoseEstimate frontCameraPose = LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.CameraConstanst.FRONT_CAMERA_NAME);
+        // if (frontCameraPose.tagCount >= 2) {
+        //     driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(frontCameraPose.pose), frontCameraPose.timestampSeconds);
+        //     Logger.recordOutput("FrontPoseEstimate", frontCameraPose.pose);
+        // }
+        // LimelightHelpers.PoseEstimate backCameraPose = LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.CameraConstanst.BACK_CAMERA_NAME);
+        // if (backCameraPose.tagCount >= 2) {
+        //     driveSystem.getPoseEstimator().addVisionMeasurement(new Pose3d(backCameraPose.pose), backCameraPose.timestampSeconds);
+        //     Logger.recordOutput("BackPoseEstimate", backCameraPose.pose);
+        // }
     }
 
     @Override
@@ -212,15 +244,15 @@ public class DriveSubsystem extends TestableSubsystem {
         driveSystem.simulationPeriodic();
     }
 
-    public Command getAutoCommand(){
+    public Command getAutoCommand() {
         return autoChooser.getSelected();
     }
 
-    public void stopDrive(){
-        driveSystem.setChassisSpeed(ChassisSpeeds.fromRobotRelativeSpeeds(0,0,0, driveSystem.getGyro().getRotation2d()), Translation2d.kZero);
+    public void stopDrive() {
+        driveSystem.setChassisSpeed(ChassisSpeeds.fromRobotRelativeSpeeds(0, 0, 0, driveSystem.getGyro().getRotation2d()), Translation2d.kZero);
     }
 
-    public void rotateChassis(double rotSpeed){
+    public void rotateChassis(double rotSpeed) {
         driveSystem.setChassisSpeed(ChassisSpeeds.fromRobotRelativeSpeeds(0, 0, rotSpeed, driveSystem.getGyro().getRotation2d()), Translation2d.kZero);
     }
 

src/main/java/frc/robot/subsystems/HopperSubsystem.java

@@ -1,46 +1,112 @@
 // Copyright (c) FIRST and other WPILib contributors.
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
-
 package frc.robot.subsystems;
 
 import org.fairportrobotics.frc.posty.TestableSubsystem;
+import static org.fairportrobotics.frc.posty.assertions.Assertions.assertThat;
 import org.fairportrobotics.frc.posty.test.PostTest;
+import org.littletonrobotics.junction.Logger;
 
-import com.ctre.phoenix6.configs.ClosedLoopGeneralConfigs;
+import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.controls.VelocityVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
 
-import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
+import edu.wpi.first.units.Units;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.wpilibj.GenericHID.RumbleType;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants;
 
 public class HopperSubsystem extends TestableSubsystem {
 
     private TalonFX spindexerMotor;
+
     private TalonFX kickerMotor;
-  /** Creates a new HopperSubsystem. */
+    private VelocityVoltage kickerControl = new VelocityVoltage(0);
+    private StatusSignal<AngularVelocity> kickerVelocity;
+
+    /**
+     * Creates a new HopperSubsystem.
+     */
     public HopperSubsystem() {
         spindexerMotor = new TalonFX(Constants.HopperConstants.SPINDEXER_MOTOR_ID);
-    spindexerMotor.getConfigurator().apply(new MotorOutputConfigs().withInverted(Constants.HopperConstants.SPINDEXER_MOTOR_DIRECTION));
-    // spindexerMotor.getConfigurator().apply(new ClosedLoopGeneralConfigs()
-    //   .);
+        spindexerMotor.getConfigurator().apply(
+                new TalonFXConfiguration()
+                        .withMotorOutput(
+                                new MotorOutputConfigs()
+                                        .withInverted(Constants.HopperConstants.SPINDEXER_MOTOR_DIRECTION))
+                        .withSlot0(
+                                new Slot0Configs()
+                                        .withKP(0)
+                                        .withKI(0)
+                                        .withKD(0)
+                                        .withKS(0)));
 
         kickerMotor = new TalonFX(Constants.HopperConstants.KICKER_MOTOR_ID);
-    kickerMotor.getConfigurator().apply(new MotorOutputConfigs().withInverted(Constants.HopperConstants.KICKER_MOTOR_DIRECTION));
+        kickerMotor.getConfigurator().apply(
+                new TalonFXConfiguration()
+                        .withMotorOutput(
+                                new MotorOutputConfigs()
+                                        .withInverted(Constants.HopperConstants.KICKER_MOTOR_DIRECTION)
+                        )
+                        .withSlot0(new Slot0Configs()
+                                .withKP(0)
+                                .withKI(0)
+                                .withKD(0)
+                                .withKS(0)
+                        ));
+        kickerVelocity = kickerMotor.getVelocity();
     }
 
-  public void feedKicker() {kickerMotor.set(0.75);}
+    public void feedKicker() {
+        //kickerMotor.setControl(kickerControl.withVelocity(1000));
+        kickerMotor.set(0.75);
+    }
 
-  public void reverseKicker() {kickerMotor.set(-0.5);} 
+    public void reverseKicker() {
+        //kickerMotor.setControl(kickerControl.withVelocity(-500));
+        kickerMotor.set(-0.5);
+    }
 
-  public void stopKicker() {kickerMotor.stopMotor();}
+    public void stopKicker() {
+        kickerMotor.stopMotor();
+    }
 
-  public void spindexerOn() { spindexerMotor.set(0.75);}
+    public void spindexerOn() {
+        spindexerMotor.set(0.75);
+    }
 
-  public void spindexerOff() { spindexerMotor.stopMotor();}
+    public void spindexerReverse() {
+        spindexerMotor.set(-0.75);
+    }
+
+    public void spindexerOff() {
+        spindexerMotor.stopMotor();
+    }
+
+    public Command spinny() {
+        return this.runOnce(() -> {
+            if (spindexerMotor.get() == 0) {
+                spindexerOn();
+            } else {
+                spindexerOff();
+            }
+        });
+    }
+
+
+    @Override
+    public void periodic() {
+        Logger.recordOutput("HopperSubsystem-KickerSpeed(Rotations/sec)", kickerVelocity.refresh().getValue().in(Units.RotationsPerSecond));
+    }
 
     @PostTest(enabled = true)
-  public void hopperSystem_CANDevicesConnected(){
+    public void hopperSystem_CANDevicesConnected() {
         assertThat(kickerMotor.isConnected()).as("Kicker motor not connected!").isTrue();
         assertThat(spindexerMotor.isConnected()).as("Spindexer motor not connected!").isTrue();
     }

src/main/java/frc/robot/subsystems/IntakeSubsystem.java

@@ -1,32 +1,34 @@
 // Copyright (c) FIRST and other WPILib contributors.
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
-
 package frc.robot.subsystems;
 
 import org.fairportrobotics.frc.posty.TestableSubsystem;
+import static org.fairportrobotics.frc.posty.assertions.Assertions.assertThat;
 import org.fairportrobotics.frc.posty.test.PostTest;
+import static org.fairportrobotics.frc.robolib.motors.Utils.SetMotorDirection;
 
 import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
 import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import com.ctre.phoenix6.hardware.TalonFX;
-import frc.robot.Constants;
-
-import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
-import static org.fairportrobotics.frc.robolib.motors.Utils.*;
 
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.GenericHID.RumbleType;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.Constants;
 
 public class IntakeSubsystem extends TestableSubsystem {
-  /** Creates a new ExampleSubsystem. */
+
+    /**
+     * Creates a new ExampleSubsystem.
+     */
 
     private TalonFX intakeMotor;
     private WPI_TalonSRX deployMotor;
 
-  public IntakeSubsystem() 
-  {
+    public IntakeSubsystem() {
         intakeMotor = new TalonFX(Constants.IntakeConstants.INTAKE_MOTOR_ID);
         SetMotorDirection(intakeMotor, Constants.IntakeConstants.INTAKE_MOTOR_DIRECTION);
 
@@ -36,40 +38,55 @@ public class IntakeSubsystem extends TestableSubsystem {
         deployMotor.setInverted(Constants.IntakeConstants.DEPLOY_MOTOR_INVERTED);
     }
 
-  public Command deploy()
-  {
+    public Command deploy() {
         return Commands.sequence(
                 Commands.deadline(
                         Commands.waitSeconds(2),
                         this.runOnce(
-          () -> {deployMotor.set(1);} // Bump this speed up if intake doesn't deploy
+                                () -> {
+                                    deployMotor.set(1);
+                                } // Bump this speed up if intake doesn't deploy
                         )
                 ),
                 this.runOnce(() -> deployMotor.stopMotor())
         );
     }
 
-  public Command resetDeploy(){
+    public Command resetDeploy() {
         return this.runEnd(() -> deployMotor.set(-1), () -> deployMotor.stopMotor());
     }
 
-  public void setSpeed(double speed)
-  {
+    public void setSpeed(double speed) {
         intakeMotor.set(speed);
     }
 
-  public Command intake()
-  {
-    return this.runOnce(() -> {if(intakeMotor.get()==0){setSpeed(-.5);}else{intakeMotor.stopMotor();}});
+    public Command stopIntake(XboxController m_XboxController) {
+        return this.runOnce(() -> {
+            intakeMotor.stopMotor();
+            m_XboxController.setRumble(RumbleType.kBothRumble, .0);
+        });
     }
 
-  public Command reverseIntake()
-  {
-    return this.runEnd(() -> setSpeed(.5), () -> { intakeMotor.stopMotor();});
+    public Command intake(XboxController m_XboxController) {
+        return this.runOnce(() -> {
+            if (intakeMotor.get() == 0) {
+                setSpeed(-.5);
+                m_XboxController.setRumble(RumbleType.kBothRumble, .5);
+            } else {
+                intakeMotor.stopMotor();
+                m_XboxController.setRumble(RumbleType.kBothRumble, .0);
+            }
+        });
+    }
+
+    public Command reverseIntake() {
+        return this.runEnd(() -> setSpeed(.5), () -> {
+            intakeMotor.stopMotor();
+        });
     }
 
     @PostTest(enabled = true)
-  public void IntakeSubsystem_CANDevicesConnected(){
+    public void IntakeSubsystem_CANDevicesConnected() {
         assertThat(intakeMotor.isConnected()).as("Intake motor not connected!").isTrue();
         assertThat(deployMotor.isAlive()).as("Deploy controller not connected!").isTrue();
     }

src/main/java/frc/robot/subsystems/TurretSubsystem.java

@@ -7,6 +7,7 @@ package frc.robot.subsystems;
 import org.fairportrobotics.frc.posty.TestableSubsystem;
 import org.fairportrobotics.frc.posty.test.PostTest;
 import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.ConsoleSource.RoboRIO;
 
 import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
 
@@ -34,6 +35,9 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;
 import com.revrobotics.spark.config.SparkMaxConfig;
 
 import frc.robot.Constants;
+import frc.robot.Robot;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.units.AngleUnit;
 import edu.wpi.first.units.Units;
 import edu.wpi.first.units.measure.Angle;
@@ -58,6 +62,10 @@ public class TurretSubsystem extends TestableSubsystem {
   private StatusSignal<Angle> turretMotorPosition;
   private StatusSignal<ForwardLimitValue> turretMotorForwardLimit;
   private StatusSignal<ReverseLimitValue> turretMotorReverseLimit;
+  private StatusSignal<Double> turretPositionError;
+  private double forwardLimit = 0;
+  private double reverseLimit = 0;
+
   private SparkMax launcherMotor;
   private SparkClosedLoopController launcherControler;
 
@@ -65,6 +73,8 @@ public class TurretSubsystem extends TestableSubsystem {
 
   private Servo hood;
 
+  private Pose3d turretTarget;
+
   public TurretSubsystem() {
 
     // Turret configuration
@@ -96,6 +106,7 @@ public class TurretSubsystem extends TestableSubsystem {
     turretMotorPosition = turretMotor.getPosition();
     turretMotorForwardLimit = turretMotor.getForwardLimit();
     turretMotorReverseLimit = turretMotor.getReverseLimit();
+    turretPositionError = turretMotor.getClosedLoopError();
 
     turretSim = turretMotor.getSimState();
 
@@ -104,8 +115,8 @@ public class TurretSubsystem extends TestableSubsystem {
     SparkMaxConfig config = new SparkMaxConfig().apply((SparkMaxConfig) SparkMaxConfig.Presets.REV_NEO);
     config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED);
     config.voltageCompensation(10);
-    config.closedLoop.p(0.0001).i(0).d(0.0); // I = 0.0000001
-    config.closedLoop.feedForward.kS(0.2).kV(0.002).kA(0.00);
+    config.closedLoop.p(0.0002).i(0.000001).d(0.0005); // I = 0.0000001
+    config.closedLoop.feedForward.kS(0.2).kV(0.00005).kA(0.001);
     // config.closedLoop.allowedClosedLoopError(10, ClosedLoopSlot.kSlot0);
     config.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);
     config.closedLoop.positionWrappingEnabled(false);
@@ -131,7 +142,8 @@ public class TurretSubsystem extends TestableSubsystem {
   public boolean isLauncherUpToSpeed() {
     // Valid if velcity is within 10% of setpoint.
     // May need to lower this
-    return Math.abs(launcherControler.getSetpoint() - launcherMotor.getEncoder().getVelocity()) >= launcherControler.getSetpoint() * 0.03;
+  return true;
+    // return Math.abs(launcherControler.getSetpoint() - launcherMotor.getEncoder().getVelocity()) >= launcherControler.getSetpoint() * 0.03;
   }
 
   public void setTargetElevation(double elev)
@@ -157,7 +169,7 @@ public class TurretSubsystem extends TestableSubsystem {
   public void homeTurret()
   {
     if(turretState != TurretState.INIT){
-      return; // Early return, we don't want to home if we already have
+      return; 
     }
     turretMotor.set(Constants.ShooterConstants.HOMING_SPEED);
     turretState = TurretState.HOMING;
@@ -177,62 +189,80 @@ public class TurretSubsystem extends TestableSubsystem {
     return getTurretMotorPosition() / Constants.ShooterConstants.TURRET_GEAR_RATIO;
   }
 
+  public void setTurretTargetPose(Pose3d targetPose){
+    turretTarget = targetPose;
+  }
+
+  public Pose3d getTurretTargetPose(){
+    return turretTarget;
+  }
+
   private double getTurretMotorPosition(){
     return turretMotorPosition.refresh().getValueAsDouble() - turretOffsetInRotations;
   }
 
   @Override
   public void periodic() {
-
-    if(turretState == TurretState.HOMING)
-    {
-      turretMotor.set(0.05);
-
-      if(turretLimitSwitch.get())
-      { // Turret has tripped the switch
+    if (turretState == TurretState.HOMING) {
+      if (turretLimitSwitch.get()) { // Turret has tripped the switch
         turretMotor.stopMotor();
         turretOffsetInRotations = (turretMotorPosition.refresh().getValueAsDouble() - 1.323);
+        if (!Robot.isReal()) {
+          turretOffsetInRotations = 0; // Flip turret around
+        }
         turretState = TurretState.READY;
-        // Angle forwardLimit = Angle.ofRelativeUnits(-90, Units.Degrees).times(Constants.ShooterConstants.TURRET_GEAR_RATIO).plus(turretOffset);
-        // Angle reverseLimit = Angle.ofRelativeUnits(90, Units.Degrees).times(Constants.ShooterConstants.TURRET_GEAR_RATIO).minus(turretOffset);
-        // Logger.recordOutput("TurretSubsystem-TurretForwardLimit", forwardLimit);
-        // Logger.recordOutput("TurretSubsystem-TurretReverseLimit", reverseLimit);
+        forwardLimit = (1.5 + turretOffsetInRotations);
+        reverseLimit = (-1.5 + turretOffsetInRotations);
+        Logger.recordOutput("TurretSubsystem-TurretForwardLimit", forwardLimit);
+        Logger.recordOutput("TurretSubsystem-TurretReverseLimit", reverseLimit);
         turretMotor.getConfigurator().apply(
             new SoftwareLimitSwitchConfigs()
-            // .withForwardSoftLimitEnable(true)
-            // .withForwardSoftLimitThreshold(forwardLimit)
-            // .withReverseSoftLimitEnable(true)
-            // .withReverseSoftLimitThreshold(reverseLimit)
-        );
-        // setTurretRobotRelative(Angle.ofRelativeUnits(0, Units.Degrees));
-        setTurretMotorRotation(-0.34); // Return to 0 after MIAMI VALLEY
+                .withForwardSoftLimitEnable(true)
+                .withForwardSoftLimitThreshold(forwardLimit)
+                .withReverseSoftLimitEnable(true)
+                .withReverseSoftLimitThreshold(reverseLimit));
+        // setTurretRobotRelative(0);
+        // setTurretMotorRotation(-0.34); // Return to 0 after MIAMI VALLEY
       }
     }
 
-    if(LOGGING)
-    {
+    if (LOGGING) {
       Logger.recordOutput("TurretSubsystem-TurretLimitSwitch", turretLimitSwitch.get());
       Logger.recordOutput("TurretSubsystem-Launcher Speed (RPM)", launcherMotor.getEncoder().getVelocity());
       Logger.recordOutput("TurretSubsystem-TurretState", turretState);
-      Logger.recordOutput("TurretSubsystem-TurretPosition", getTurretAngleRobotRelative());
+      Logger.recordOutput("TurretSubsystem-TurretPositionRobotRelative", getTurretAngleRobotRelative());
       Logger.recordOutput("TurretSubsystem-TurretMotorPositionWithOffset", getTurretMotorPosition());
-      Logger.recordOutput("TurretSubsystem-TurretMotorPositionRaw", turretMotorPosition.refresh().getValue().in(Units.Degrees));
-      Logger.recordOutput("TurretSubsystem-TurretRequestedPosRaw", turretControlMode.getPositionMeasure().in(Units.Degrees));
+      Logger.recordOutput("TurretSubsystem-TurretMotorPositionRaw",
+          turretMotorPosition.refresh().getValue().in(Units.Rotations));
+      Logger.recordOutput("TurretSubsystem-TurretRequestedPosRaw",
+          turretControlMode.getPositionMeasure().in(Units.Rotations));
       Logger.recordOutput("TurretSubsystem-TurretRequestedPos", getRequestedPosTurretRelative());
       Logger.recordOutput("TurretSubsystem-TurretOffset", turretOffsetInRotations);
       Logger.recordOutput("TurretSubsystem-TurretForwardLimitHit", turretMotorForwardLimit.refresh().getValue());
       Logger.recordOutput("TurretSubsystem-TurretReverseLimitHit", turretMotorReverseLimit.refresh().getValue());
+      Logger.recordOutput("TurretSubsystem-TurretPositionError", turretPositionError.refresh().getValueAsDouble());
+      Logger.recordOutput("TurretSubsystem-LauncherSetpoint(RPM)", launcherControler.getSetpoint());
     }
 
   }
 
-  public void setTurretFieldRelative(double pos)
+  public void setTurretFieldRelative(Pose3d robotPose, double pos)
   {
     if(turretState != TurretState.READY)
     {
       // Not ready to set angle
       return;
     }
+
+    double correctedPos = -pos; // Flip angle to match CCW positive. Add 0.5 to flip around
+
+    double robotRotations = robotPose.getRotation().toRotation2d().getRotations();
+
+    Rotation2d turretAngle = Rotation2d.fromRotations(correctedPos).plus(Rotation2d.fromRotations(robotRotations)).minus(Rotation2d.fromRotations(0.5));
+
+    Logger.recordOutput("TurretSubsystem-TurretFieldTarget", turretAngle.getRotations());
+
+    setTurretRobotRelative(((turretAngle.getRotations())));
   }
 
   public void setTurretRobotRelative(double pos)
@@ -243,12 +273,36 @@ public class TurretSubsystem extends TestableSubsystem {
       return;
     }
 
-    setTurretMotorRotation(pos * Constants.ShooterConstants.TURRET_GEAR_RATIO);
+    double correctedPos = -pos; // Flip angle to match CCW positive
+
+    setTurretMotorRotation(correctedPos * Constants.ShooterConstants.TURRET_GEAR_RATIO);
   }
 
   public void setTurretMotorRotation(double pos){
-    turretMotor.setControl(turretControlMode.withPosition((pos + turretOffsetInRotations)));
-    turretSim.setRawRotorPosition(pos + turretOffsetInRotations);
+    double posWithOffset = pos + turretOffsetInRotations;
+
+    Logger.recordOutput("Blah", posWithOffset);
+
+    if(Robot.isSimulation()){
+      if(posWithOffset >= forwardLimit){
+        turretSim.setForwardLimit(true);
+      } else {
+        turretSim.setForwardLimit(false);
+      }
+
+      if(posWithOffset <= reverseLimit){
+        turretSim.setReverseLimit(true);
+      } else {
+        turretSim.setReverseLimit(false);
+      }
+    }
+
+    turretMotor.setControl(turretControlMode.withPosition(posWithOffset));
+    turretSim.setRawRotorPosition(-posWithOffset);
+  }
+
+  public boolean isTurretAtTarget(){
+    return Math.abs(turretPositionError.refresh().getValueAsDouble()) <= 0.1;
   }
 
   private double getRequestedPosTurretRelative() {