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Merged
ChiriacIoana merged 11 commits into from
Feb 20, 2026
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7be99d4
new auto
ImMihai689 Feb 15, 2026
7c04f68
new auto
ImMihai689 Feb 15, 2026
40e4840
cleanup
ImMihai689 Feb 16, 2026
e58cf63
auto using follower from robot
ChiriacIoana Feb 17, 2026
52db6f2
low-pass filer to solve pinpoint drift
ChiriacIoana Feb 17, 2026
2dd226b
Changed to DC loader
Robi2903 Feb 19, 2026
4161cc8
thing
Telea-Mihai Feb 19, 2026
519cb64
Stuff I guess
Robi2903 Feb 19, 2026
b36a267
changes ig
Telea-Mihai Feb 20, 2026
06124b2
stuff
ChiriacIoana Feb 20, 2026
bc9af1c
constants from left low corner
ChiriacIoana Feb 20, 2026
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111 changes: 52 additions & 59 deletions TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/KronBot.java
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Original file line numberDiff line numberDiff line change
Expand Up@@ -2,38 +2,33 @@


import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.FLAP_CLOSED;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.FLAP_OPEN;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KD;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KF;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KI;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KP;

import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor;

import com.pedropathing.follower.Follower;
import com.pedropathing.geometry.Pose;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;

import org.firstinspires.ftc.teamcode.kronbot.utils.PoseStorage;
import org.firstinspires.ftc.teamcode.kronbot.utils.drivers.MotorDriver;
import org.firstinspires.ftc.teamcode.kronbot.utils.wrappers.ControlHubGyroscope;
import org.firstinspires.ftc.teamcode.kronbot.utils.wrappers.Servo;
import com.qualcomm.robotcore.hardware.ColorSensor;


/**
* Container class that holds references for all electronic hardware on the robot
*/
public class KronBot {
/** Deprecated, is always null. Use PedroPathing follower instead. */
public MotorDriver motors;
// Use this instead
public Follower follower = null;
public ControlHubGyroscope gyroscope;
public ModernRoboticsI2cRangeSensor rangeSensor;

public DcMotorEx intakeMotor, leftOuttake, rightOuttake;
public Servo loaderServo;

public Servo turretServo, angleServo, flapsServo;
public ColorSensor outtakeColor;

public DcMotorEx intakeMotor, leftOuttake, rightOuttake, loaderMotor;
public Servo loaderServo, turretServo, angleServo, flapsServo;


/*
public void initDrivetrain(HardwareMap hardwareMap) {
DcMotorEx leftRear = hardwareMap.get(DcMotorEx.class, "leftRear");
DcMotorEx leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
Expand All@@ -44,38 +39,27 @@ public void initDrivetrain(HardwareMap hardwareMap) {
motors = new MotorDriver();
motors.init(leftRear, leftFront, rightRear, rightFront);
}
public void initMotors(HardwareMap hardwareMap) {
*/

public void initMotors(HardwareMap hardwareMap) {
intakeMotor = hardwareMap.get(DcMotorEx.class, "intakeMotor");
loaderMotor = hardwareMap.get(DcMotorEx.class, "loaderMotor");

leftOuttake = hardwareMap.get(DcMotorEx.class, "shooter0");
leftOuttake.setDirection(DcMotorSimple.Direction.REVERSE);
leftOuttake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
leftOuttake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
leftOuttake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
leftOuttake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
leftOuttake.setVelocityPIDFCoefficients(
OUT_MOTOR_KP, // P - main stabilizer
OUT_MOTOR_KI, // I - usually 0
OUT_MOTOR_KD, // D - reduces overshoot
OUT_MOTOR_KF // F - feedforward (VERY important)
);

rightOuttake = hardwareMap.get(DcMotorEx.class, "shooter1");
rightOuttake.setDirection(DcMotorSimple.Direction.REVERSE);
rightOuttake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
rightOuttake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
rightOuttake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
rightOuttake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
rightOuttake.setVelocityPIDFCoefficients(
OUT_MOTOR_KP, // P - main stabilizer
OUT_MOTOR_KI, // I - usually 0
OUT_MOTOR_KD, // D - reduces overshoot
OUT_MOTOR_KF // F - feedforward (VERY important)
);

}


public void initServos(HardwareMap hardwareMap) {
loaderServo = new Servo(hardwareMap);
loaderServo.init("loader", true, false, 0, 0, 0);
loaderServo.init("loader", true, true, 0, 0, 0);
loaderServo.runContinuous(false, false);
turretServo = new Servo(hardwareMap);
turretServo.init("turretPivot", false, false, 0, 1, 0.5);
Expand All@@ -87,35 +71,44 @@ public void initServos(HardwareMap hardwareMap) {

public void initSensors(HardwareMap hardwareMap) {
//outtakeColor = hardwareMap.get(ColorSensor.class, "outtakeColor");
rangeSensor = hardwareMap.get(ModernRoboticsI2cRangeSensor.class, "rangeSensor");
}




public void initAutonomy(HardwareMap hardwareMap) {
initMotors(hardwareMap);
initServos(hardwareMap);
initSensors(hardwareMap);
/**
* Initialize PedroPathing follower
* @param hardwareMap Used to initialize drivetrain and localizers
* @param loadPose If true, will try to load a pose from the file system (if it fails, it loads a 0 pose)
*/
public void initFollower(HardwareMap hardwareMap, boolean loadPose) {
follower = org.firstinspires.ftc.teamcode.pedroPathing.Constants.createFollower(hardwareMap);
if(loadPose) {
Pose startingPose = PoseStorage.loadPose();
follower.setStartingPose(startingPose);
follower.update();
}
else
follower.setStartingPose(new Pose());
}

public void initTeleop(HardwareMap hardwareMap) {
initMotors(hardwareMap);
initDrivetrain(hardwareMap);

//initIMU2(hardwareMap);
initServos(hardwareMap);
initSensors(hardwareMap);
/**
* Initialize PedroPathing follower with a 0 starting pose
* @param hardwareMap Used to initialize drivetrain and localizers
*/
public void initFollower(HardwareMap hardwareMap) { initFollower(hardwareMap, false); }

/**
* Initialize PedroPathing follower with a starting pose
* @param hardwareMap Used to initialize drivetrain and localizers
* @param startingPose The starting pose
*/
public void initFollower(HardwareMap hardwareMap, Pose startingPose) {
follower = org.firstinspires.ftc.teamcode.pedroPathing.Constants.createFollower(hardwareMap);
follower.setStartingPose(startingPose);
}

public void initSimpleDriving(HardwareMap hardwareMap) {
//initIMU2(hardwareMap);
initMotors(hardwareMap);
}

public void init(HardwareMap hardwareMap){
public void initHardware(HardwareMap hardwareMap) {
if(follower != null)
initFollower(hardwareMap);
initMotors(hardwareMap);
//initIMU2(hardwareMap);
initServos(hardwareMap);
initSensors(hardwareMap);
}
Expand Down
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new changes by ChiriacIoana · Pull Request #2 · kronbot/decode · GitHub
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 Merged

ChiriacIoana
merged 11 commits into

from

Feb 20, 2026
 Merged


new changes #2
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7be99d4

new auto


ImMihai689 Feb 15, 2026
7c04f68

new auto


ImMihai689 Feb 15, 2026
40e4840

cleanup


ImMihai689 Feb 16, 2026
e58cf63

auto using follower from robot


ChiriacIoana Feb 17, 2026
52db6f2

low-pass filer to solve pinpoint drift


ChiriacIoana Feb 17, 2026
2dd226b

Changed to DC loader


Robi2903 Feb 19, 2026
4161cc8

thing


Telea-Mihai Feb 19, 2026
519cb64

Stuff I guess


Robi2903 Feb 19, 2026
b36a267

changes ig


Telea-Mihai Feb 20, 2026
06124b2

stuff


ChiriacIoana Feb 20, 2026
bc9af1c

constants from left low corner


ChiriacIoana Feb 20, 2026

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111 changes: 52 additions & 59 deletions
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/KronBot.java

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Original file line numberDiff line numberDiff line change
Expand Up@@ -2,38 +2,33 @@


import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.FLAP_CLOSED;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.FLAP_OPEN;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KD;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KF;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KI;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KP;

import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor;

import com.pedropathing.follower.Follower;
import com.pedropathing.geometry.Pose;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;

import org.firstinspires.ftc.teamcode.kronbot.utils.PoseStorage;
import org.firstinspires.ftc.teamcode.kronbot.utils.drivers.MotorDriver;
import org.firstinspires.ftc.teamcode.kronbot.utils.wrappers.ControlHubGyroscope;
import org.firstinspires.ftc.teamcode.kronbot.utils.wrappers.Servo;
import com.qualcomm.robotcore.hardware.ColorSensor;


/**
 * Container class that holds references for all electronic hardware on the robot
 */
public class KronBot {
 /** Deprecated, is always null. Use PedroPathing follower instead. */
 public MotorDriver motors;
 // Use this instead
 public Follower follower = null;
 public ControlHubGyroscope gyroscope;
 public ModernRoboticsI2cRangeSensor rangeSensor;

 public DcMotorEx intakeMotor, leftOuttake, rightOuttake;
 public Servo loaderServo;

 public Servo turretServo, angleServo, flapsServo;
 public ColorSensor outtakeColor;

 public DcMotorEx intakeMotor, leftOuttake, rightOuttake, loaderMotor;
 public Servo loaderServo, turretServo, angleServo, flapsServo;


 /*
 public void initDrivetrain(HardwareMap hardwareMap) {
 DcMotorEx leftRear = hardwareMap.get(DcMotorEx.class, "leftRear");
 DcMotorEx leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
Expand All@@ -44,38 +39,27 @@ public void initDrivetrain(HardwareMap hardwareMap) {
 motors = new MotorDriver();
 motors.init(leftRear, leftFront, rightRear, rightFront);
 }
public void initMotors(HardwareMap hardwareMap) {
*/

 public void initMotors(HardwareMap hardwareMap) {
 intakeMotor = hardwareMap.get(DcMotorEx.class, "intakeMotor");
 loaderMotor = hardwareMap.get(DcMotorEx.class, "loaderMotor");

 leftOuttake = hardwareMap.get(DcMotorEx.class, "shooter0");
 leftOuttake.setDirection(DcMotorSimple.Direction.REVERSE);
 leftOuttake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 leftOuttake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 leftOuttake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 leftOuttake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 leftOuttake.setVelocityPIDFCoefficients(
 OUT_MOTOR_KP, // P - main stabilizer
 OUT_MOTOR_KI, // I - usually 0
 OUT_MOTOR_KD, // D - reduces overshoot
 OUT_MOTOR_KF // F - feedforward (VERY important)
 );

 rightOuttake = hardwareMap.get(DcMotorEx.class, "shooter1");
 rightOuttake.setDirection(DcMotorSimple.Direction.REVERSE);
 rightOuttake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 rightOuttake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 rightOuttake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 rightOuttake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 rightOuttake.setVelocityPIDFCoefficients(
 OUT_MOTOR_KP, // P - main stabilizer
 OUT_MOTOR_KI, // I - usually 0
 OUT_MOTOR_KD, // D - reduces overshoot
 OUT_MOTOR_KF // F - feedforward (VERY important)
 );

 }


 public void initServos(HardwareMap hardwareMap) {
 loaderServo = new Servo(hardwareMap);
 loaderServo.init("loader", true, false, 0, 0, 0);
 loaderServo.init("loader", true, true, 0, 0, 0);
 loaderServo.runContinuous(false, false);
 turretServo = new Servo(hardwareMap);
 turretServo.init("turretPivot", false, false, 0, 1, 0.5);
Expand All@@ -87,35 +71,44 @@ public void initServos(HardwareMap hardwareMap) {

 public void initSensors(HardwareMap hardwareMap) {
 //outtakeColor = hardwareMap.get(ColorSensor.class, "outtakeColor");
 rangeSensor = hardwareMap.get(ModernRoboticsI2cRangeSensor.class, "rangeSensor");
 }




 public void initAutonomy(HardwareMap hardwareMap) {
 initMotors(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 /**
 * Initialize PedroPathing follower
 * @param hardwareMap Used to initialize drivetrain and localizers
 * @param loadPose If true, will try to load a pose from the file system (if it fails, it loads a 0 pose)
 */
 public void initFollower(HardwareMap hardwareMap, boolean loadPose) {
 follower = org.firstinspires.ftc.teamcode.pedroPathing.Constants.createFollower(hardwareMap);
 if(loadPose) {
 Pose startingPose = PoseStorage.loadPose();
 follower.setStartingPose(startingPose);
 follower.update();
 }
 else
 follower.setStartingPose(new Pose());
 }

 public void initTeleop(HardwareMap hardwareMap) {
 initMotors(hardwareMap);
 initDrivetrain(hardwareMap);

 //initIMU2(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 /**
 * Initialize PedroPathing follower with a 0 starting pose
 * @param hardwareMap Used to initialize drivetrain and localizers
 */
 public void initFollower(HardwareMap hardwareMap) { initFollower(hardwareMap, false); }

 /**
 * Initialize PedroPathing follower with a starting pose
 * @param hardwareMap Used to initialize drivetrain and localizers
 * @param startingPose The starting pose
 */
 public void initFollower(HardwareMap hardwareMap, Pose startingPose) {
 follower = org.firstinspires.ftc.teamcode.pedroPathing.Constants.createFollower(hardwareMap);
 follower.setStartingPose(startingPose);
 }

 public void initSimpleDriving(HardwareMap hardwareMap) {
 //initIMU2(hardwareMap);
 initMotors(hardwareMap);
 }

 public void init(HardwareMap hardwareMap){
 public void initHardware(HardwareMap hardwareMap) {
 if(follower != null)
 initFollower(hardwareMap);
 initMotors(hardwareMap);
 //initIMU2(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 }
Expand Down
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new changes by ChiriacIoana · Pull Request #2 · kronbot/decode · GitHub
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new changes #2

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 Merged

ChiriacIoana
merged 11 commits into

from

Feb 20, 2026
 Merged


new changes #2
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7be99d4

new auto


ImMihai689 Feb 15, 2026
7c04f68

new auto


ImMihai689 Feb 15, 2026
40e4840

cleanup


ImMihai689 Feb 16, 2026
e58cf63

auto using follower from robot


ChiriacIoana Feb 17, 2026
52db6f2

low-pass filer to solve pinpoint drift


ChiriacIoana Feb 17, 2026
2dd226b

Changed to DC loader


Robi2903 Feb 19, 2026
4161cc8

thing


Telea-Mihai Feb 19, 2026
519cb64

Stuff I guess


Robi2903 Feb 19, 2026
b36a267

changes ig


Telea-Mihai Feb 20, 2026
06124b2

stuff


ChiriacIoana Feb 20, 2026
bc9af1c

constants from left low corner


ChiriacIoana Feb 20, 2026

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111 changes: 52 additions & 59 deletions
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/KronBot.java

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Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -2,38 +2,33 @@


import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.FLAP_CLOSED;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.FLAP_OPEN;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KD;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KF;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KI;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KP;

import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor;

import com.pedropathing.follower.Follower;
import com.pedropathing.geometry.Pose;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;

import org.firstinspires.ftc.teamcode.kronbot.utils.PoseStorage;
import org.firstinspires.ftc.teamcode.kronbot.utils.drivers.MotorDriver;
import org.firstinspires.ftc.teamcode.kronbot.utils.wrappers.ControlHubGyroscope;
import org.firstinspires.ftc.teamcode.kronbot.utils.wrappers.Servo;
import com.qualcomm.robotcore.hardware.ColorSensor;


/**
 * Container class that holds references for all electronic hardware on the robot
 */
public class KronBot {
 /** Deprecated, is always null. Use PedroPathing follower instead. */
 public MotorDriver motors;
 // Use this instead
 public Follower follower = null;
 public ControlHubGyroscope gyroscope;
 public ModernRoboticsI2cRangeSensor rangeSensor;

 public DcMotorEx intakeMotor, leftOuttake, rightOuttake;
 public Servo loaderServo;

 public Servo turretServo, angleServo, flapsServo;
 public ColorSensor outtakeColor;

 public DcMotorEx intakeMotor, leftOuttake, rightOuttake, loaderMotor;
 public Servo loaderServo, turretServo, angleServo, flapsServo;


 /*
 public void initDrivetrain(HardwareMap hardwareMap) {
 DcMotorEx leftRear = hardwareMap.get(DcMotorEx.class, "leftRear");
 DcMotorEx leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
Expand All@@ -44,38 +39,27 @@ public void initDrivetrain(HardwareMap hardwareMap) {
 motors = new MotorDriver();
 motors.init(leftRear, leftFront, rightRear, rightFront);
 }
public void initMotors(HardwareMap hardwareMap) {
*/

 public void initMotors(HardwareMap hardwareMap) {
 intakeMotor = hardwareMap.get(DcMotorEx.class, "intakeMotor");
 loaderMotor = hardwareMap.get(DcMotorEx.class, "loaderMotor");

 leftOuttake = hardwareMap.get(DcMotorEx.class, "shooter0");
 leftOuttake.setDirection(DcMotorSimple.Direction.REVERSE);
 leftOuttake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 leftOuttake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 leftOuttake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 leftOuttake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 leftOuttake.setVelocityPIDFCoefficients(
 OUT_MOTOR_KP, // P - main stabilizer
 OUT_MOTOR_KI, // I - usually 0
 OUT_MOTOR_KD, // D - reduces overshoot
 OUT_MOTOR_KF // F - feedforward (VERY important)
 );

 rightOuttake = hardwareMap.get(DcMotorEx.class, "shooter1");
 rightOuttake.setDirection(DcMotorSimple.Direction.REVERSE);
 rightOuttake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 rightOuttake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 rightOuttake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 rightOuttake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 rightOuttake.setVelocityPIDFCoefficients(
 OUT_MOTOR_KP, // P - main stabilizer
 OUT_MOTOR_KI, // I - usually 0
 OUT_MOTOR_KD, // D - reduces overshoot
 OUT_MOTOR_KF // F - feedforward (VERY important)
 );

 }


 public void initServos(HardwareMap hardwareMap) {
 loaderServo = new Servo(hardwareMap);
 loaderServo.init("loader", true, false, 0, 0, 0);
 loaderServo.init("loader", true, true, 0, 0, 0);
 loaderServo.runContinuous(false, false);
 turretServo = new Servo(hardwareMap);
 turretServo.init("turretPivot", false, false, 0, 1, 0.5);
Expand All@@ -87,35 +71,44 @@ public void initServos(HardwareMap hardwareMap) {

 public void initSensors(HardwareMap hardwareMap) {
 //outtakeColor = hardwareMap.get(ColorSensor.class, "outtakeColor");
 rangeSensor = hardwareMap.get(ModernRoboticsI2cRangeSensor.class, "rangeSensor");
 }




 public void initAutonomy(HardwareMap hardwareMap) {
 initMotors(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 /**
 * Initialize PedroPathing follower
 * @param hardwareMap Used to initialize drivetrain and localizers
 * @param loadPose If true, will try to load a pose from the file system (if it fails, it loads a 0 pose)
 */
 public void initFollower(HardwareMap hardwareMap, boolean loadPose) {
 follower = org.firstinspires.ftc.teamcode.pedroPathing.Constants.createFollower(hardwareMap);
 if(loadPose) {
 Pose startingPose = PoseStorage.loadPose();
 follower.setStartingPose(startingPose);
 follower.update();
 }
 else
 follower.setStartingPose(new Pose());
 }

 public void initTeleop(HardwareMap hardwareMap) {
 initMotors(hardwareMap);
 initDrivetrain(hardwareMap);

 //initIMU2(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 /**
 * Initialize PedroPathing follower with a 0 starting pose
 * @param hardwareMap Used to initialize drivetrain and localizers
 */
 public void initFollower(HardwareMap hardwareMap) { initFollower(hardwareMap, false); }

 /**
 * Initialize PedroPathing follower with a starting pose
 * @param hardwareMap Used to initialize drivetrain and localizers
 * @param startingPose The starting pose
 */
 public void initFollower(HardwareMap hardwareMap, Pose startingPose) {
 follower = org.firstinspires.ftc.teamcode.pedroPathing.Constants.createFollower(hardwareMap);
 follower.setStartingPose(startingPose);
 }

 public void initSimpleDriving(HardwareMap hardwareMap) {
 //initIMU2(hardwareMap);
 initMotors(hardwareMap);
 }

 public void init(HardwareMap hardwareMap){
 public void initHardware(HardwareMap hardwareMap) {
 if(follower != null)
 initFollower(hardwareMap);
 initMotors(hardwareMap);
 //initIMU2(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 }
Expand Down
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, 'i');
if (__m === '*' || __re.test(location.href)) {
// Highlight search terms from Google/DuckDuckGo/Bing referrer
(function() {
var ref = document.referrer;
var terms = [];
if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {
var url = new URL(ref);
var q = url.searchParams.get('q') || url.searchParams.get('p');
if (q) {
terms = q.split(/\s+/).filter(function(t) { return t.length > 2; });
}
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if (terms.length === 0) return;
var style = document.createElement('style');
style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';
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found = true;
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frag.appendChild(document.createTextNode(part));
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var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];
if (!skipTags.includes(node.tagName)) {
Array.from(node.childNodes).forEach(highlight);
}
}
}
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mutations.forEach(function(m) {
m.addedNodes.forEach(function(node) {
if (node.nodeType === 1 || node.nodeType === 3) highlight(node);
});
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observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
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try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '
new changes by ChiriacIoana · Pull Request #2 · kronbot/decode · GitHub
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7be99d4

new auto


ImMihai689 Feb 15, 2026
7c04f68

new auto


ImMihai689 Feb 15, 2026
40e4840

cleanup


ImMihai689 Feb 16, 2026
e58cf63

auto using follower from robot


ChiriacIoana Feb 17, 2026
52db6f2

low-pass filer to solve pinpoint drift


ChiriacIoana Feb 17, 2026
2dd226b

Changed to DC loader


Robi2903 Feb 19, 2026
4161cc8

thing


Telea-Mihai Feb 19, 2026
519cb64

Stuff I guess


Robi2903 Feb 19, 2026
b36a267

changes ig


Telea-Mihai Feb 20, 2026
06124b2

stuff


ChiriacIoana Feb 20, 2026
bc9af1c

constants from left low corner


ChiriacIoana Feb 20, 2026

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111 changes: 52 additions & 59 deletions
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/KronBot.java

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Original file line numberDiff line numberDiff line change
Expand Up@@ -2,38 +2,33 @@


import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.FLAP_CLOSED;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.FLAP_OPEN;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KD;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KF;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KI;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KP;

import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor;

import com.pedropathing.follower.Follower;
import com.pedropathing.geometry.Pose;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;

import org.firstinspires.ftc.teamcode.kronbot.utils.PoseStorage;
import org.firstinspires.ftc.teamcode.kronbot.utils.drivers.MotorDriver;
import org.firstinspires.ftc.teamcode.kronbot.utils.wrappers.ControlHubGyroscope;
import org.firstinspires.ftc.teamcode.kronbot.utils.wrappers.Servo;
import com.qualcomm.robotcore.hardware.ColorSensor;


/**
 * Container class that holds references for all electronic hardware on the robot
 */
public class KronBot {
 /** Deprecated, is always null. Use PedroPathing follower instead. */
 public MotorDriver motors;
 // Use this instead
 public Follower follower = null;
 public ControlHubGyroscope gyroscope;
 public ModernRoboticsI2cRangeSensor rangeSensor;

 public DcMotorEx intakeMotor, leftOuttake, rightOuttake;
 public Servo loaderServo;

 public Servo turretServo, angleServo, flapsServo;
 public ColorSensor outtakeColor;

 public DcMotorEx intakeMotor, leftOuttake, rightOuttake, loaderMotor;
 public Servo loaderServo, turretServo, angleServo, flapsServo;


 /*
 public void initDrivetrain(HardwareMap hardwareMap) {
 DcMotorEx leftRear = hardwareMap.get(DcMotorEx.class, "leftRear");
 DcMotorEx leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
Expand All@@ -44,38 +39,27 @@ public void initDrivetrain(HardwareMap hardwareMap) {
 motors = new MotorDriver();
 motors.init(leftRear, leftFront, rightRear, rightFront);
 }
public void initMotors(HardwareMap hardwareMap) {
*/

 public void initMotors(HardwareMap hardwareMap) {
 intakeMotor = hardwareMap.get(DcMotorEx.class, "intakeMotor");
 loaderMotor = hardwareMap.get(DcMotorEx.class, "loaderMotor");

 leftOuttake = hardwareMap.get(DcMotorEx.class, "shooter0");
 leftOuttake.setDirection(DcMotorSimple.Direction.REVERSE);
 leftOuttake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 leftOuttake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 leftOuttake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 leftOuttake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 leftOuttake.setVelocityPIDFCoefficients(
 OUT_MOTOR_KP, // P - main stabilizer
 OUT_MOTOR_KI, // I - usually 0
 OUT_MOTOR_KD, // D - reduces overshoot
 OUT_MOTOR_KF // F - feedforward (VERY important)
 );

 rightOuttake = hardwareMap.get(DcMotorEx.class, "shooter1");
 rightOuttake.setDirection(DcMotorSimple.Direction.REVERSE);
 rightOuttake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 rightOuttake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 rightOuttake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 rightOuttake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 rightOuttake.setVelocityPIDFCoefficients(
 OUT_MOTOR_KP, // P - main stabilizer
 OUT_MOTOR_KI, // I - usually 0
 OUT_MOTOR_KD, // D - reduces overshoot
 OUT_MOTOR_KF // F - feedforward (VERY important)
 );

 }


 public void initServos(HardwareMap hardwareMap) {
 loaderServo = new Servo(hardwareMap);
 loaderServo.init("loader", true, false, 0, 0, 0);
 loaderServo.init("loader", true, true, 0, 0, 0);
 loaderServo.runContinuous(false, false);
 turretServo = new Servo(hardwareMap);
 turretServo.init("turretPivot", false, false, 0, 1, 0.5);
Expand All@@ -87,35 +71,44 @@ public void initServos(HardwareMap hardwareMap) {

 public void initSensors(HardwareMap hardwareMap) {
 //outtakeColor = hardwareMap.get(ColorSensor.class, "outtakeColor");
 rangeSensor = hardwareMap.get(ModernRoboticsI2cRangeSensor.class, "rangeSensor");
 }




 public void initAutonomy(HardwareMap hardwareMap) {
 initMotors(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 /**
 * Initialize PedroPathing follower
 * @param hardwareMap Used to initialize drivetrain and localizers
 * @param loadPose If true, will try to load a pose from the file system (if it fails, it loads a 0 pose)
 */
 public void initFollower(HardwareMap hardwareMap, boolean loadPose) {
 follower = org.firstinspires.ftc.teamcode.pedroPathing.Constants.createFollower(hardwareMap);
 if(loadPose) {
 Pose startingPose = PoseStorage.loadPose();
 follower.setStartingPose(startingPose);
 follower.update();
 }
 else
 follower.setStartingPose(new Pose());
 }

 public void initTeleop(HardwareMap hardwareMap) {
 initMotors(hardwareMap);
 initDrivetrain(hardwareMap);

 //initIMU2(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 /**
 * Initialize PedroPathing follower with a 0 starting pose
 * @param hardwareMap Used to initialize drivetrain and localizers
 */
 public void initFollower(HardwareMap hardwareMap) { initFollower(hardwareMap, false); }

 /**
 * Initialize PedroPathing follower with a starting pose
 * @param hardwareMap Used to initialize drivetrain and localizers
 * @param startingPose The starting pose
 */
 public void initFollower(HardwareMap hardwareMap, Pose startingPose) {
 follower = org.firstinspires.ftc.teamcode.pedroPathing.Constants.createFollower(hardwareMap);
 follower.setStartingPose(startingPose);
 }

 public void initSimpleDriving(HardwareMap hardwareMap) {
 //initIMU2(hardwareMap);
 initMotors(hardwareMap);
 }

 public void init(HardwareMap hardwareMap){
 public void initHardware(HardwareMap hardwareMap) {
 if(follower != null)
 initFollower(hardwareMap);
 initMotors(hardwareMap);
 //initIMU2(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 }
Expand Down
Loading

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Strip utm_, fbclid, gclid, etc. from all links on page
(function() {
var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',
'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',
'ref', 'ref_src', 'source', 'medium', 'campaign'];
function cleanUrl(url) {
try {
var u = new URL(url, window.location.origin);
var changed = false;
trackingParams.forEach(function(p) {
if (u.searchParams.has(p)) {
u.searchParams.delete(p);
changed = true;
}
});
return changed ? u.toString() : url;
} catch (e) {
return url;
}
}
function cleanLinks() {
document.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
cleanLinks();
var observer = new MutationObserver(function(mutations) {
mutations.forEach(function(m) {
m.addedNodes.forEach(function(node) {
if (node.nodeType === 1) {
if (node.tagName === 'A') cleanLinks();
node.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
});
});
});
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '
new changes by ChiriacIoana · Pull Request #2 · kronbot/decode · GitHub
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 Merged

ChiriacIoana
merged 11 commits into

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Feb 20, 2026
 Merged


new changes #2
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7be99d4

new auto


ImMihai689 Feb 15, 2026
7c04f68

new auto


ImMihai689 Feb 15, 2026
40e4840

cleanup


ImMihai689 Feb 16, 2026
e58cf63

auto using follower from robot


ChiriacIoana Feb 17, 2026
52db6f2

low-pass filer to solve pinpoint drift


ChiriacIoana Feb 17, 2026
2dd226b

Changed to DC loader


Robi2903 Feb 19, 2026
4161cc8

thing


Telea-Mihai Feb 19, 2026
519cb64

Stuff I guess


Robi2903 Feb 19, 2026
b36a267

changes ig


Telea-Mihai Feb 20, 2026
06124b2

stuff


ChiriacIoana Feb 20, 2026
bc9af1c

constants from left low corner


ChiriacIoana Feb 20, 2026

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111 changes: 52 additions & 59 deletions
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/KronBot.java

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Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -2,38 +2,33 @@


import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.FLAP_CLOSED;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.FLAP_OPEN;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KD;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KF;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KI;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KP;

import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor;

import com.pedropathing.follower.Follower;
import com.pedropathing.geometry.Pose;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;

import org.firstinspires.ftc.teamcode.kronbot.utils.PoseStorage;
import org.firstinspires.ftc.teamcode.kronbot.utils.drivers.MotorDriver;
import org.firstinspires.ftc.teamcode.kronbot.utils.wrappers.ControlHubGyroscope;
import org.firstinspires.ftc.teamcode.kronbot.utils.wrappers.Servo;
import com.qualcomm.robotcore.hardware.ColorSensor;


/**
 * Container class that holds references for all electronic hardware on the robot
 */
public class KronBot {
 /** Deprecated, is always null. Use PedroPathing follower instead. */
 public MotorDriver motors;
 // Use this instead
 public Follower follower = null;
 public ControlHubGyroscope gyroscope;
 public ModernRoboticsI2cRangeSensor rangeSensor;

 public DcMotorEx intakeMotor, leftOuttake, rightOuttake;
 public Servo loaderServo;

 public Servo turretServo, angleServo, flapsServo;
 public ColorSensor outtakeColor;

 public DcMotorEx intakeMotor, leftOuttake, rightOuttake, loaderMotor;
 public Servo loaderServo, turretServo, angleServo, flapsServo;


 /*
 public void initDrivetrain(HardwareMap hardwareMap) {
 DcMotorEx leftRear = hardwareMap.get(DcMotorEx.class, "leftRear");
 DcMotorEx leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
Expand All@@ -44,38 +39,27 @@ public void initDrivetrain(HardwareMap hardwareMap) {
 motors = new MotorDriver();
 motors.init(leftRear, leftFront, rightRear, rightFront);
 }
public void initMotors(HardwareMap hardwareMap) {
*/

 public void initMotors(HardwareMap hardwareMap) {
 intakeMotor = hardwareMap.get(DcMotorEx.class, "intakeMotor");
 loaderMotor = hardwareMap.get(DcMotorEx.class, "loaderMotor");

 leftOuttake = hardwareMap.get(DcMotorEx.class, "shooter0");
 leftOuttake.setDirection(DcMotorSimple.Direction.REVERSE);
 leftOuttake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 leftOuttake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 leftOuttake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 leftOuttake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 leftOuttake.setVelocityPIDFCoefficients(
 OUT_MOTOR_KP, // P - main stabilizer
 OUT_MOTOR_KI, // I - usually 0
 OUT_MOTOR_KD, // D - reduces overshoot
 OUT_MOTOR_KF // F - feedforward (VERY important)
 );

 rightOuttake = hardwareMap.get(DcMotorEx.class, "shooter1");
 rightOuttake.setDirection(DcMotorSimple.Direction.REVERSE);
 rightOuttake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 rightOuttake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 rightOuttake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 rightOuttake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 rightOuttake.setVelocityPIDFCoefficients(
 OUT_MOTOR_KP, // P - main stabilizer
 OUT_MOTOR_KI, // I - usually 0
 OUT_MOTOR_KD, // D - reduces overshoot
 OUT_MOTOR_KF // F - feedforward (VERY important)
 );

 }


 public void initServos(HardwareMap hardwareMap) {
 loaderServo = new Servo(hardwareMap);
 loaderServo.init("loader", true, false, 0, 0, 0);
 loaderServo.init("loader", true, true, 0, 0, 0);
 loaderServo.runContinuous(false, false);
 turretServo = new Servo(hardwareMap);
 turretServo.init("turretPivot", false, false, 0, 1, 0.5);
Expand All@@ -87,35 +71,44 @@ public void initServos(HardwareMap hardwareMap) {

 public void initSensors(HardwareMap hardwareMap) {
 //outtakeColor = hardwareMap.get(ColorSensor.class, "outtakeColor");
 rangeSensor = hardwareMap.get(ModernRoboticsI2cRangeSensor.class, "rangeSensor");
 }




 public void initAutonomy(HardwareMap hardwareMap) {
 initMotors(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 /**
 * Initialize PedroPathing follower
 * @param hardwareMap Used to initialize drivetrain and localizers
 * @param loadPose If true, will try to load a pose from the file system (if it fails, it loads a 0 pose)
 */
 public void initFollower(HardwareMap hardwareMap, boolean loadPose) {
 follower = org.firstinspires.ftc.teamcode.pedroPathing.Constants.createFollower(hardwareMap);
 if(loadPose) {
 Pose startingPose = PoseStorage.loadPose();
 follower.setStartingPose(startingPose);
 follower.update();
 }
 else
 follower.setStartingPose(new Pose());
 }

 public void initTeleop(HardwareMap hardwareMap) {
 initMotors(hardwareMap);
 initDrivetrain(hardwareMap);

 //initIMU2(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 /**
 * Initialize PedroPathing follower with a 0 starting pose
 * @param hardwareMap Used to initialize drivetrain and localizers
 */
 public void initFollower(HardwareMap hardwareMap) { initFollower(hardwareMap, false); }

 /**
 * Initialize PedroPathing follower with a starting pose
 * @param hardwareMap Used to initialize drivetrain and localizers
 * @param startingPose The starting pose
 */
 public void initFollower(HardwareMap hardwareMap, Pose startingPose) {
 follower = org.firstinspires.ftc.teamcode.pedroPathing.Constants.createFollower(hardwareMap);
 follower.setStartingPose(startingPose);
 }

 public void initSimpleDriving(HardwareMap hardwareMap) {
 //initIMU2(hardwareMap);
 initMotors(hardwareMap);
 }

 public void init(HardwareMap hardwareMap){
 public void initHardware(HardwareMap hardwareMap) {
 if(follower != null)
 initFollower(hardwareMap);
 initMotors(hardwareMap);
 //initIMU2(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 }
Expand Down
Loading

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Auto-enable theater mode on YouTube
(function() {
function tryTheater() {
var btn = document.querySelector('button[aria-label="Theater mode"], ytd-player #player button[title="Theater mode"]');
if (btn && !btn.classList.contains('activated')) {
btn.click();
}
}
// Try immediately
tryTheater();
// Try after navigation (SPA)
var lastUrl = location.href;
setInterval(function() {
if (location.href !== lastUrl) {
lastUrl = location.href;
setTimeout(tryTheater, 500);
}
}, 1000);
// Also try on player load
var observer = new MutationObserver(tryTheater);
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '
new changes by ChiriacIoana · Pull Request #2 · kronbot/decode · GitHub
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ChiriacIoana
merged 11 commits into

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Feb 20, 2026
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new changes #2
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7be99d4

new auto


ImMihai689 Feb 15, 2026
7c04f68

new auto


ImMihai689 Feb 15, 2026
40e4840

cleanup


ImMihai689 Feb 16, 2026
e58cf63

auto using follower from robot


ChiriacIoana Feb 17, 2026
52db6f2

low-pass filer to solve pinpoint drift


ChiriacIoana Feb 17, 2026
2dd226b

Changed to DC loader


Robi2903 Feb 19, 2026
4161cc8

thing


Telea-Mihai Feb 19, 2026
519cb64

Stuff I guess


Robi2903 Feb 19, 2026
b36a267

changes ig


Telea-Mihai Feb 20, 2026
06124b2

stuff


ChiriacIoana Feb 20, 2026
bc9af1c

constants from left low corner


ChiriacIoana Feb 20, 2026

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111 changes: 52 additions & 59 deletions
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/KronBot.java

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Original file line numberDiff line numberDiff line change
Expand Up@@ -2,38 +2,33 @@


import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.FLAP_CLOSED;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.FLAP_OPEN;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KD;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KF;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KI;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KP;

import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor;

import com.pedropathing.follower.Follower;
import com.pedropathing.geometry.Pose;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;

import org.firstinspires.ftc.teamcode.kronbot.utils.PoseStorage;
import org.firstinspires.ftc.teamcode.kronbot.utils.drivers.MotorDriver;
import org.firstinspires.ftc.teamcode.kronbot.utils.wrappers.ControlHubGyroscope;
import org.firstinspires.ftc.teamcode.kronbot.utils.wrappers.Servo;
import com.qualcomm.robotcore.hardware.ColorSensor;


/**
 * Container class that holds references for all electronic hardware on the robot
 */
public class KronBot {
 /** Deprecated, is always null. Use PedroPathing follower instead. */
 public MotorDriver motors;
 // Use this instead
 public Follower follower = null;
 public ControlHubGyroscope gyroscope;
 public ModernRoboticsI2cRangeSensor rangeSensor;

 public DcMotorEx intakeMotor, leftOuttake, rightOuttake;
 public Servo loaderServo;

 public Servo turretServo, angleServo, flapsServo;
 public ColorSensor outtakeColor;

 public DcMotorEx intakeMotor, leftOuttake, rightOuttake, loaderMotor;
 public Servo loaderServo, turretServo, angleServo, flapsServo;


 /*
 public void initDrivetrain(HardwareMap hardwareMap) {
 DcMotorEx leftRear = hardwareMap.get(DcMotorEx.class, "leftRear");
 DcMotorEx leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
Expand All@@ -44,38 +39,27 @@ public void initDrivetrain(HardwareMap hardwareMap) {
 motors = new MotorDriver();
 motors.init(leftRear, leftFront, rightRear, rightFront);
 }
public void initMotors(HardwareMap hardwareMap) {
*/

 public void initMotors(HardwareMap hardwareMap) {
 intakeMotor = hardwareMap.get(DcMotorEx.class, "intakeMotor");
 loaderMotor = hardwareMap.get(DcMotorEx.class, "loaderMotor");

 leftOuttake = hardwareMap.get(DcMotorEx.class, "shooter0");
 leftOuttake.setDirection(DcMotorSimple.Direction.REVERSE);
 leftOuttake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 leftOuttake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 leftOuttake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 leftOuttake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 leftOuttake.setVelocityPIDFCoefficients(
 OUT_MOTOR_KP, // P - main stabilizer
 OUT_MOTOR_KI, // I - usually 0
 OUT_MOTOR_KD, // D - reduces overshoot
 OUT_MOTOR_KF // F - feedforward (VERY important)
 );

 rightOuttake = hardwareMap.get(DcMotorEx.class, "shooter1");
 rightOuttake.setDirection(DcMotorSimple.Direction.REVERSE);
 rightOuttake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 rightOuttake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 rightOuttake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 rightOuttake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 rightOuttake.setVelocityPIDFCoefficients(
 OUT_MOTOR_KP, // P - main stabilizer
 OUT_MOTOR_KI, // I - usually 0
 OUT_MOTOR_KD, // D - reduces overshoot
 OUT_MOTOR_KF // F - feedforward (VERY important)
 );

 }


 public void initServos(HardwareMap hardwareMap) {
 loaderServo = new Servo(hardwareMap);
 loaderServo.init("loader", true, false, 0, 0, 0);
 loaderServo.init("loader", true, true, 0, 0, 0);
 loaderServo.runContinuous(false, false);
 turretServo = new Servo(hardwareMap);
 turretServo.init("turretPivot", false, false, 0, 1, 0.5);
Expand All@@ -87,35 +71,44 @@ public void initServos(HardwareMap hardwareMap) {

 public void initSensors(HardwareMap hardwareMap) {
 //outtakeColor = hardwareMap.get(ColorSensor.class, "outtakeColor");
 rangeSensor = hardwareMap.get(ModernRoboticsI2cRangeSensor.class, "rangeSensor");
 }




 public void initAutonomy(HardwareMap hardwareMap) {
 initMotors(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 /**
 * Initialize PedroPathing follower
 * @param hardwareMap Used to initialize drivetrain and localizers
 * @param loadPose If true, will try to load a pose from the file system (if it fails, it loads a 0 pose)
 */
 public void initFollower(HardwareMap hardwareMap, boolean loadPose) {
 follower = org.firstinspires.ftc.teamcode.pedroPathing.Constants.createFollower(hardwareMap);
 if(loadPose) {
 Pose startingPose = PoseStorage.loadPose();
 follower.setStartingPose(startingPose);
 follower.update();
 }
 else
 follower.setStartingPose(new Pose());
 }

 public void initTeleop(HardwareMap hardwareMap) {
 initMotors(hardwareMap);
 initDrivetrain(hardwareMap);

 //initIMU2(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 /**
 * Initialize PedroPathing follower with a 0 starting pose
 * @param hardwareMap Used to initialize drivetrain and localizers
 */
 public void initFollower(HardwareMap hardwareMap) { initFollower(hardwareMap, false); }

 /**
 * Initialize PedroPathing follower with a starting pose
 * @param hardwareMap Used to initialize drivetrain and localizers
 * @param startingPose The starting pose
 */
 public void initFollower(HardwareMap hardwareMap, Pose startingPose) {
 follower = org.firstinspires.ftc.teamcode.pedroPathing.Constants.createFollower(hardwareMap);
 follower.setStartingPose(startingPose);
 }

 public void initSimpleDriving(HardwareMap hardwareMap) {
 //initIMU2(hardwareMap);
 initMotors(hardwareMap);
 }

 public void init(HardwareMap hardwareMap){
 public void initHardware(HardwareMap hardwareMap) {
 if(follower != null)
 initFollower(hardwareMap);
 initMotors(hardwareMap);
 //initIMU2(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 }
Expand Down
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// Remove or un-stick sticky/fixed headers that block content
(function() {
function unstick() {
document.querySelectorAll('header, nav, [role="banner"], .header, .navbar, .sticky, .fixed-top, [style*="position: fixed"], [style*="position:sticky"]').forEach(function(el) {
if (el.style.position === 'fixed' || el.style.position === 'sticky' || getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {
el.style.position = 'static';
el.style.top = 'auto';
el.style.zIndex = 'auto';
}
});
}
unstick();
var observer = new MutationObserver(unstick);
observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });
})();
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '
new changes by ChiriacIoana · Pull Request #2 · kronbot/decode · GitHub
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new changes #2

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 Merged

ChiriacIoana
merged 11 commits into

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Feb 20, 2026
 Merged


new changes #2
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7be99d4

new auto


ImMihai689 Feb 15, 2026
7c04f68

new auto


ImMihai689 Feb 15, 2026
40e4840

cleanup


ImMihai689 Feb 16, 2026
e58cf63

auto using follower from robot


ChiriacIoana Feb 17, 2026
52db6f2

low-pass filer to solve pinpoint drift


ChiriacIoana Feb 17, 2026
2dd226b

Changed to DC loader


Robi2903 Feb 19, 2026
4161cc8

thing


Telea-Mihai Feb 19, 2026
519cb64

Stuff I guess


Robi2903 Feb 19, 2026
b36a267

changes ig


Telea-Mihai Feb 20, 2026
06124b2

stuff


ChiriacIoana Feb 20, 2026
bc9af1c

constants from left low corner


ChiriacIoana Feb 20, 2026

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111 changes: 52 additions & 59 deletions
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/KronBot.java

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -2,38 +2,33 @@


import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.FLAP_CLOSED;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.FLAP_OPEN;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KD;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KF;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KI;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KP;

import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor;

import com.pedropathing.follower.Follower;
import com.pedropathing.geometry.Pose;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;

import org.firstinspires.ftc.teamcode.kronbot.utils.PoseStorage;
import org.firstinspires.ftc.teamcode.kronbot.utils.drivers.MotorDriver;
import org.firstinspires.ftc.teamcode.kronbot.utils.wrappers.ControlHubGyroscope;
import org.firstinspires.ftc.teamcode.kronbot.utils.wrappers.Servo;
import com.qualcomm.robotcore.hardware.ColorSensor;


/**
 * Container class that holds references for all electronic hardware on the robot
 */
public class KronBot {
 /** Deprecated, is always null. Use PedroPathing follower instead. */
 public MotorDriver motors;
 // Use this instead
 public Follower follower = null;
 public ControlHubGyroscope gyroscope;
 public ModernRoboticsI2cRangeSensor rangeSensor;

 public DcMotorEx intakeMotor, leftOuttake, rightOuttake;
 public Servo loaderServo;

 public Servo turretServo, angleServo, flapsServo;
 public ColorSensor outtakeColor;

 public DcMotorEx intakeMotor, leftOuttake, rightOuttake, loaderMotor;
 public Servo loaderServo, turretServo, angleServo, flapsServo;


 /*
 public void initDrivetrain(HardwareMap hardwareMap) {
 DcMotorEx leftRear = hardwareMap.get(DcMotorEx.class, "leftRear");
 DcMotorEx leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
Expand All@@ -44,38 +39,27 @@ public void initDrivetrain(HardwareMap hardwareMap) {
 motors = new MotorDriver();
 motors.init(leftRear, leftFront, rightRear, rightFront);
 }
public void initMotors(HardwareMap hardwareMap) {
*/

 public void initMotors(HardwareMap hardwareMap) {
 intakeMotor = hardwareMap.get(DcMotorEx.class, "intakeMotor");
 loaderMotor = hardwareMap.get(DcMotorEx.class, "loaderMotor");

 leftOuttake = hardwareMap.get(DcMotorEx.class, "shooter0");
 leftOuttake.setDirection(DcMotorSimple.Direction.REVERSE);
 leftOuttake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 leftOuttake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 leftOuttake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 leftOuttake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 leftOuttake.setVelocityPIDFCoefficients(
 OUT_MOTOR_KP, // P - main stabilizer
 OUT_MOTOR_KI, // I - usually 0
 OUT_MOTOR_KD, // D - reduces overshoot
 OUT_MOTOR_KF // F - feedforward (VERY important)
 );

 rightOuttake = hardwareMap.get(DcMotorEx.class, "shooter1");
 rightOuttake.setDirection(DcMotorSimple.Direction.REVERSE);
 rightOuttake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 rightOuttake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 rightOuttake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 rightOuttake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 rightOuttake.setVelocityPIDFCoefficients(
 OUT_MOTOR_KP, // P - main stabilizer
 OUT_MOTOR_KI, // I - usually 0
 OUT_MOTOR_KD, // D - reduces overshoot
 OUT_MOTOR_KF // F - feedforward (VERY important)
 );

 }


 public void initServos(HardwareMap hardwareMap) {
 loaderServo = new Servo(hardwareMap);
 loaderServo.init("loader", true, false, 0, 0, 0);
 loaderServo.init("loader", true, true, 0, 0, 0);
 loaderServo.runContinuous(false, false);
 turretServo = new Servo(hardwareMap);
 turretServo.init("turretPivot", false, false, 0, 1, 0.5);
Expand All@@ -87,35 +71,44 @@ public void initServos(HardwareMap hardwareMap) {

 public void initSensors(HardwareMap hardwareMap) {
 //outtakeColor = hardwareMap.get(ColorSensor.class, "outtakeColor");
 rangeSensor = hardwareMap.get(ModernRoboticsI2cRangeSensor.class, "rangeSensor");
 }




 public void initAutonomy(HardwareMap hardwareMap) {
 initMotors(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 /**
 * Initialize PedroPathing follower
 * @param hardwareMap Used to initialize drivetrain and localizers
 * @param loadPose If true, will try to load a pose from the file system (if it fails, it loads a 0 pose)
 */
 public void initFollower(HardwareMap hardwareMap, boolean loadPose) {
 follower = org.firstinspires.ftc.teamcode.pedroPathing.Constants.createFollower(hardwareMap);
 if(loadPose) {
 Pose startingPose = PoseStorage.loadPose();
 follower.setStartingPose(startingPose);
 follower.update();
 }
 else
 follower.setStartingPose(new Pose());
 }

 public void initTeleop(HardwareMap hardwareMap) {
 initMotors(hardwareMap);
 initDrivetrain(hardwareMap);

 //initIMU2(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 /**
 * Initialize PedroPathing follower with a 0 starting pose
 * @param hardwareMap Used to initialize drivetrain and localizers
 */
 public void initFollower(HardwareMap hardwareMap) { initFollower(hardwareMap, false); }

 /**
 * Initialize PedroPathing follower with a starting pose
 * @param hardwareMap Used to initialize drivetrain and localizers
 * @param startingPose The starting pose
 */
 public void initFollower(HardwareMap hardwareMap, Pose startingPose) {
 follower = org.firstinspires.ftc.teamcode.pedroPathing.Constants.createFollower(hardwareMap);
 follower.setStartingPose(startingPose);
 }

 public void initSimpleDriving(HardwareMap hardwareMap) {
 //initIMU2(hardwareMap);
 initMotors(hardwareMap);
 }

 public void init(HardwareMap hardwareMap){
 public void initHardware(HardwareMap hardwareMap) {
 if(follower != null)
 initFollower(hardwareMap);
 initMotors(hardwareMap);
 //initIMU2(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 }
Expand Down
Loading

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Universal Dark Mode - works on any site
(function() {
var enabled = true;
function applyDarkMode() {
if (!enabled) return;
// Create style element if it doesn't exist
var style = document.getElementById('universal-dark-mode-style');
if (!style) {
style = document.createElement('style');
style.id = 'universal-dark-mode-style';
document.head.appendChild(style);
}
// Dark mode CSS - inverts colors but preserves images/video
style.textContent = '
/* Invert everything except media */
html {
filter: invert(1) hue-rotate(180deg) !important;
background: #1a1a2e !important;
}
/* Restore images, videos, iframes, canvas */
img, video, iframe, canvas, svg, picture, [style*="background-image"] {
filter: invert(1) hue-rotate(180deg) !important;
}
/* Preserve specific elements that should not be inverted */
.no-dark-mode, .no-dark-mode *,
[data-theme="light"], [data-theme="light"],
.ace_editor, .ace_editor *,
.CodeMirror, .CodeMirror *,
.monaco-editor, .monaco-editor *,
.markdown-body pre, .markdown-body pre *,
.highlight, .highlight *,
pre code, pre code * {
filter: none !important;
}
/* Fix common UI elements */
.modal, .popup, .dropdown-menu, .tooltip, .popover {
filter: invert(1) hue-rotate(180deg) !important;
background: #2d2d44 !important;
border-color: #444 !important;
}
/* Scrollbars */
::-webkit-scrollbar { background: #1a1a2e !important; }
::-webkit-scrollbar-thumb { background: #444 !important; }
::-webkit-scrollbar-thumb:hover { background: #555 !important; }
/* Selection */
::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }
::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }
';
}
function removeDarkMode() {
var style = document.getElementById('universal-dark-mode-style');
if (style) style.remove();
}
// Toggle with Alt+Shift+D
document.addEventListener('keydown', function(e) {
if (e.altKey && e.shiftKey && e.key === 'D') {
e.preventDefault();
enabled = !enabled;
if (enabled) {
applyDarkMode();
console.log('[Universal Dark Mode] Enabled');
} else {
removeDarkMode();
console.log('[Universal Dark Mode] Disabled');
}
}
});
// Apply on load
applyDarkMode();
// Re-apply on dynamic content
var observer = new MutationObserver(function(mutations) {
if (enabled && !document.getElementById('universal-dark-mode-style')) {
applyDarkMode();
}
});
observer.observe(document.head, { childList: true });
console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');
})();
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();
new changes by ChiriacIoana · Pull Request #2 · kronbot/decode · GitHub
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new changes #2

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 Merged

ChiriacIoana
merged 11 commits into

from

Feb 20, 2026
 Merged


new changes #2
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7be99d4

new auto


ImMihai689 Feb 15, 2026
7c04f68

new auto


ImMihai689 Feb 15, 2026
40e4840

cleanup


ImMihai689 Feb 16, 2026
e58cf63

auto using follower from robot


ChiriacIoana Feb 17, 2026
52db6f2

low-pass filer to solve pinpoint drift


ChiriacIoana Feb 17, 2026
2dd226b

Changed to DC loader


Robi2903 Feb 19, 2026
4161cc8

thing


Telea-Mihai Feb 19, 2026
519cb64

Stuff I guess


Robi2903 Feb 19, 2026
b36a267

changes ig


Telea-Mihai Feb 20, 2026
06124b2

stuff


ChiriacIoana Feb 20, 2026
bc9af1c

constants from left low corner


ChiriacIoana Feb 20, 2026

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111 changes: 52 additions & 59 deletions
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/KronBot.java

View file


Open in desktop

Original file line numberDiff line numberDiff line change
Expand Up@@ -2,38 +2,33 @@


import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.FLAP_CLOSED;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.FLAP_OPEN;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KD;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KF;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KI;
import static org.firstinspires.ftc.teamcode.kronbot.utils.Constants.OUT_MOTOR_KP;

import com.qualcomm.hardware.bosch.BNO055IMU;
import com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cRangeSensor;

import com.pedropathing.follower.Follower;
import com.pedropathing.geometry.Pose;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.DcMotorEx;
import com.qualcomm.robotcore.hardware.DcMotorSimple;
import com.qualcomm.robotcore.hardware.HardwareMap;

import org.firstinspires.ftc.teamcode.kronbot.utils.PoseStorage;
import org.firstinspires.ftc.teamcode.kronbot.utils.drivers.MotorDriver;
import org.firstinspires.ftc.teamcode.kronbot.utils.wrappers.ControlHubGyroscope;
import org.firstinspires.ftc.teamcode.kronbot.utils.wrappers.Servo;
import com.qualcomm.robotcore.hardware.ColorSensor;


/**
 * Container class that holds references for all electronic hardware on the robot
 */
public class KronBot {
 /** Deprecated, is always null. Use PedroPathing follower instead. */
 public MotorDriver motors;
 // Use this instead
 public Follower follower = null;
 public ControlHubGyroscope gyroscope;
 public ModernRoboticsI2cRangeSensor rangeSensor;

 public DcMotorEx intakeMotor, leftOuttake, rightOuttake;
 public Servo loaderServo;

 public Servo turretServo, angleServo, flapsServo;
 public ColorSensor outtakeColor;

 public DcMotorEx intakeMotor, leftOuttake, rightOuttake, loaderMotor;
 public Servo loaderServo, turretServo, angleServo, flapsServo;


 /*
 public void initDrivetrain(HardwareMap hardwareMap) {
 DcMotorEx leftRear = hardwareMap.get(DcMotorEx.class, "leftRear");
 DcMotorEx leftFront = hardwareMap.get(DcMotorEx.class, "leftFront");
Expand All@@ -44,38 +39,27 @@ public void initDrivetrain(HardwareMap hardwareMap) {
 motors = new MotorDriver();
 motors.init(leftRear, leftFront, rightRear, rightFront);
 }
public void initMotors(HardwareMap hardwareMap) {
*/

 public void initMotors(HardwareMap hardwareMap) {
 intakeMotor = hardwareMap.get(DcMotorEx.class, "intakeMotor");
 loaderMotor = hardwareMap.get(DcMotorEx.class, "loaderMotor");

 leftOuttake = hardwareMap.get(DcMotorEx.class, "shooter0");
 leftOuttake.setDirection(DcMotorSimple.Direction.REVERSE);
 leftOuttake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 leftOuttake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 leftOuttake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 leftOuttake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 leftOuttake.setVelocityPIDFCoefficients(
 OUT_MOTOR_KP, // P - main stabilizer
 OUT_MOTOR_KI, // I - usually 0
 OUT_MOTOR_KD, // D - reduces overshoot
 OUT_MOTOR_KF // F - feedforward (VERY important)
 );

 rightOuttake = hardwareMap.get(DcMotorEx.class, "shooter1");
 rightOuttake.setDirection(DcMotorSimple.Direction.REVERSE);
 rightOuttake.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
 rightOuttake.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
 rightOuttake.setMode(DcMotor.RunMode.RUN_WITHOUT_ENCODER);
 rightOuttake.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
 rightOuttake.setVelocityPIDFCoefficients(
 OUT_MOTOR_KP, // P - main stabilizer
 OUT_MOTOR_KI, // I - usually 0
 OUT_MOTOR_KD, // D - reduces overshoot
 OUT_MOTOR_KF // F - feedforward (VERY important)
 );

 }


 public void initServos(HardwareMap hardwareMap) {
 loaderServo = new Servo(hardwareMap);
 loaderServo.init("loader", true, false, 0, 0, 0);
 loaderServo.init("loader", true, true, 0, 0, 0);
 loaderServo.runContinuous(false, false);
 turretServo = new Servo(hardwareMap);
 turretServo.init("turretPivot", false, false, 0, 1, 0.5);
Expand All@@ -87,35 +71,44 @@ public void initServos(HardwareMap hardwareMap) {

 public void initSensors(HardwareMap hardwareMap) {
 //outtakeColor = hardwareMap.get(ColorSensor.class, "outtakeColor");
 rangeSensor = hardwareMap.get(ModernRoboticsI2cRangeSensor.class, "rangeSensor");
 }




 public void initAutonomy(HardwareMap hardwareMap) {
 initMotors(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 /**
 * Initialize PedroPathing follower
 * @param hardwareMap Used to initialize drivetrain and localizers
 * @param loadPose If true, will try to load a pose from the file system (if it fails, it loads a 0 pose)
 */
 public void initFollower(HardwareMap hardwareMap, boolean loadPose) {
 follower = org.firstinspires.ftc.teamcode.pedroPathing.Constants.createFollower(hardwareMap);
 if(loadPose) {
 Pose startingPose = PoseStorage.loadPose();
 follower.setStartingPose(startingPose);
 follower.update();
 }
 else
 follower.setStartingPose(new Pose());
 }

 public void initTeleop(HardwareMap hardwareMap) {
 initMotors(hardwareMap);
 initDrivetrain(hardwareMap);

 //initIMU2(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 /**
 * Initialize PedroPathing follower with a 0 starting pose
 * @param hardwareMap Used to initialize drivetrain and localizers
 */
 public void initFollower(HardwareMap hardwareMap) { initFollower(hardwareMap, false); }

 /**
 * Initialize PedroPathing follower with a starting pose
 * @param hardwareMap Used to initialize drivetrain and localizers
 * @param startingPose The starting pose
 */
 public void initFollower(HardwareMap hardwareMap, Pose startingPose) {
 follower = org.firstinspires.ftc.teamcode.pedroPathing.Constants.createFollower(hardwareMap);
 follower.setStartingPose(startingPose);
 }

 public void initSimpleDriving(HardwareMap hardwareMap) {
 //initIMU2(hardwareMap);
 initMotors(hardwareMap);
 }

 public void init(HardwareMap hardwareMap){
 public void initHardware(HardwareMap hardwareMap) {
 if(follower != null)
 initFollower(hardwareMap);
 initMotors(hardwareMap);
 //initIMU2(hardwareMap);
 initServos(hardwareMap);
 initSensors(hardwareMap);
 }
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