Auto & teleop work during scrimmage

Author: Professor348

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Auto_/Auto_Main_.java

@@ -58,7 +58,8 @@ public void onInit() {
                 ));
         prompter.prompt("auto",
                 new OptionPrompt<>("Select Auto",
-                        new Leave_Far_Generic(),
+                        new Near_12Ball(),
+                        new Near_9Ball(),
                         new Leave_Far_Generic()
                         //new test_Auto(),
                         //new Complex_Test_Auto()
@@ -181,7 +182,7 @@ public void runAuto(){
         public String toString(){return "Far Zone No Turret Generic";}
     }
 
-    private class Near_Generic extends Auto{
+    private class Near_9Ball extends Auto{
         public Pose startPose = paths.nearStart;
         public boolean turretEnabled = true;
 
@@ -217,7 +218,51 @@ public void runAuto(){
 
         @NonNull
         @Override
-        public String toString(){return "Near Zone No Turret Generic";}
+        public String toString(){return "Near Zone 9 Ball Auto";}
+    }
+
+    private class Near_12Ball extends Auto{
+        public Pose startPose = paths.nearStart;
+        public boolean turretEnabled = true;
+
+        @Override
+        public Pose getStartPose(){
+            return startPose;
+        }
+        @Override
+        public boolean getTurretEnabled(){
+            return turretEnabled;
+        }
+
+        @Override
+        public void runAuto(){
+            new SequentialGroup(
+                    Commands.setIntakeMode(Intake.intakeMode.INTAKING),
+                    new InstantCommand(Commands.setFlywheelState(Turret.flywheelState.ON)),
+                    Commands.runPath(paths.nearStart_to_midShoot, true, 1),
+                    Commands.shootBalls(),
+                    Commands.setFlywheelState(Turret.flywheelState.ON),
+                    Commands.setIntakeMode(Intake.intakeMode.INTAKING),
+                    Commands.runPath(paths.midShoot_to_nearPreload, true, 1),
+                    Commands.runPath(paths.nearPreload_to_midShoot, true, 1),
+                    Commands.shootBalls(),
+                    Commands.setFlywheelState(Turret.flywheelState.ON),
+                    Commands.setIntakeMode(Intake.intakeMode.INTAKING),
+                    Commands.runPath(paths.midShoot_to_midPreload, true, 1),
+                    Commands.runPath(paths.midPreload_to_midShoot, true, 1),
+                    Commands.shootBalls(),
+                    Commands.setFlywheelState(Turret.flywheelState.ON),
+                    Commands.setIntakeMode(Intake.intakeMode.INTAKING),
+                    Commands.runPath(paths.midShoot_to_farPreload, true, 1),
+                    Commands.runPath(paths.farPreload_to_midShoot, true, 1),
+                    Commands.shootBalls(),
+                    Commands.runPath(paths.midShoot_to_nearLeave, true, 1)
+            ).schedule();
+        }
+
+        @NonNull
+        @Override
+        public String toString(){return "Near Zone 12 Ball Auto";}
     }
 
     /**

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/LOADCode/Main_/Teleop_/Teleop_Main_.java

@@ -68,7 +68,7 @@ public class Teleop_Main_ extends LinearOpMode {
     public static double DylanStickDeadzones = 0.2;
 
     public int shootingState = 0;
-    public boolean turretOn = false;
+    public boolean turretOn = true;
     public TimerEx stateTimer = new TimerEx(1);
     public double hoodOffset = 0;
 
@@ -255,6 +255,14 @@ public void Gamepad1() {
             Robot.drivetrain.speedMultiplier = 0.66;
         }
 
+        if (gamepad1.bWasPressed()){
+            if (selectedAlliance == LoadHardwareClass.Alliance.RED){
+                Robot.drivetrain.follower.setPose(new Pose(8, 8, Math.toRadians(90)));
+            }else if (selectedAlliance == LoadHardwareClass.Alliance.BLUE){
+                Robot.drivetrain.follower.setPose(new Pose(136, 8, Math.toRadians(90)));
+            }
+        }
+
         double turnMult = 2;
 //        if (gamepad1.left_stick_y == 0 && gamepad1.left_stick_x == 0){
 //            turnMult = 1;
@@ -364,7 +372,7 @@ public void Gamepad2() {
 
         //Shoot (B Button Press)
         // Increment the shooting state
-        if (gamepad2.bWasPressed() && shootingState < 2 && Robot.turret.getFlywheelRPM() > Robot.turret.getFlywheelCurrentMaxSpeed()-200) {
+        if (gamepad2.bWasPressed() && shootingState < 1 && Robot.turret.getFlywheelRPM() > Robot.turret.getFlywheelCurrentMaxSpeed()-100) {
             shootingState++;
         }
         switch (shootingState) {