SAvepoint 11/11; code edited from comp too

Author: n0tasha4k-glitch

TeamCode2029/build.gradle

@@ -11,9 +11,25 @@
 
 // Custom definitions may go here
 
+
+buildscript {
+    repositories {
+        mavenCentral()
+        maven {
+            url = 'https://www.matthewo.tech/maven/'
+        }
+    }
+    dependencies {
+        classpath 'org.team11260:fast-load-plugin:0.1.2'
+
+    }
+}
+
 // Include common definitions from above.
 apply from: '../build.common.gradle'
 apply from: '../build.dependencies.gradle'
+apply plugin: 'org.team11260.fast-load-plugin'
+
 
 android {
     namespace = 'com.n0tasha4k.ftc.twentyfive'
@@ -23,8 +39,17 @@ android {
     }
 }
 
+
+repositories {
+    maven {
+        url = 'https://www.matthewo.tech/maven/'
+    }
+}
+
 dependencies {
     implementation project(':FtcRobotController')
     implementation 'com.acmerobotics.dashboard:dashboard:0.5.0'
+    implementation 'org.team11260:fast-load:0.1.4-beta1'
 
-}
+
+}

TeamCode2029/src/main/java/com/n0tasha4k/ftc/twentyfive/AutoDecodeChallengeModular.java

@@ -14,15 +14,15 @@
 public class AutoPIDTest extends LinearOpMode {
 
     // ===== FTC Dashboard Tunables =====
-    public static double KP = 0.0008;
-    public static double KI = 0.0;
-    public static double KD = 0.00005;
+    public static double KP = 0.001;
+    public static double KI = 0.0002;
+    public static double KD = 0.000055;
     public static double TURN_KP = 0.01; // simpler proportional turn
     public static double ALLOWABLE_ERROR_TICKS = 30;
-    public static double TICKS_PER_REV = 537.7; // GoBilda 312 RPM
+    public static double TICKS_PER_REV = 537.7; //  312 RPM
     public static double WHEEL_DIAMETER_INCHES = 3.77953;
     public static double TRACK_WIDTH_INCHES = 13; // distance between wheels
-    public static double RIGHT_CORRECTION = 0.7828723194;    // tune if robot drifts right
+    public static double RIGHT_CORRECTION = .9175;    // tune if robot drifts right
 
     private static final double TICKS_PER_INCH =
             TICKS_PER_REV / (Math.PI * WHEEL_DIAMETER_INCHES);
@@ -50,17 +50,7 @@ public void runOpMode() {
         waitForStart();
         if (isStopRequested()) return;
 
-        // ===== Autonomous Sequence =====
-        for (int i = 0; i < 9101 && opModeIsActive(); i++) {
-            driveForward(24);  // forward ~~ inches
-            sleep(250);
-            driveBackward(24); // backward ~~` inches
-            sleep(250);
-        }
-
-        turnDegrees(90);
-        sleep(500);
-        turnDegrees(-90);
+        driveForward(24);
 
         stopMotors();
     }

TeamCode2029/src/main/java/com/n0tasha4k/ftc/twentyfive/AutoPIDTest.java

@@ -7,7 +7,7 @@
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.Servo;
 
-@Autonomous(name = "BADdieAUTONOMOUS (Blocks to Java)")
+@Autonomous(name = "*GREAT*BADdieAUTONOMOUS (Blocks to Java)")
 public class BADdieAUTONOUMOUS extends LinearOpMode {
 
     private DcMotor left;
@@ -37,14 +37,14 @@ public void runOpMode() {
             while (opModeIsActive()) {
                 left.setPower(-1);
                 right.setPower((1 / 1.2773475));
-                sleep(2000);
+                sleep(1425);
                 left.setPower(0);
                 right.setPower(0);
-                shooter.setVelocity(1800);
+                shooter.setVelocity(1875);
 
-                if (shooter.getVelocity() > 1650) {
+                if (shooter.getVelocity() > 1800) {
                     sleep(1000);
-                index.setPower(-1);
+                index.setPower(1);
                 finger.setPosition(1);
                 sleep(5000);
                 index.setPower(0);
@@ -55,7 +55,7 @@ public void runOpMode() {
                 }
                 if (shooter.getVelocity() > 1650) {
                     sleep(1000);
-                    index.setPower(-1);
+                    index.setPower(1);
                     finger.setPosition(1);
                     sleep(5000);
                     index.setPower(0);
@@ -66,7 +66,7 @@ public void runOpMode() {
                 }
                 if (shooter.getVelocity() > 1650) {
                     sleep(1000);
-                    index.setPower(-1);
+                    index.setPower(1);
                     finger.setPosition(1);
                     sleep(5000);
                     index.setPower(0);