randoms changed - reorganization and auto

ftc16072 · Feb 20, 2024 · 2bcd816 · 2bcd816
1 parent 807da79
commit 2bcd816
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Showing 94 changed files with 853 additions and 172 deletions.
diff --git a/...main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/AddTelemetry.java b/...main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/AddTelemetry.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class AddTelemetry extends Node {

diff --git a/...main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ClampOnPixel.java b/...main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ClampOnPixel.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class ClampOnPixel extends Node {

diff --git a/...ava/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DriveFieldRelative.java b/...ava/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DriveFieldRelative.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class DriveFieldRelative extends Node {

diff --git a/...main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DroneRelease.java b/...main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/DroneRelease.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class DroneRelease extends Node {

diff --git a/...main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ExtendSlides.java b/...main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ExtendSlides.java
@@ -1,9 +1,7 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
-import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Lift;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
-import org.firstinspires.ftc.teamcode.ftc16072.Robot;
 
 public class ExtendSlides extends Node {
 

diff --git a/...ain/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeFastDrive.java b/...ain/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeFastDrive.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class MakeFastDrive extends Node {

diff --git a/...n/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeNormalDrive.java b/...n/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeNormalDrive.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class MakeNormalDrive extends Node {

diff --git a/...ain/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeSlowDrive.java b/...ain/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MakeSlowDrive.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class MakeSlowDrive extends Node {

diff --git a/...in/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveArmAndLift.java b/...in/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveArmAndLift.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Lift;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 

diff --git a/...g/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveLiftToIntakePosition.java b/...g/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveLiftToIntakePosition.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class MoveLiftToIntakePosition extends Node {

diff --git a/...irstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveLiftToPixelGrabPosition.java b/...irstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/MoveLiftToPixelGrabPosition.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class MoveLiftToPixelGrabPosition extends Node {

diff --git a/.../main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePixels.java b/.../main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePixels.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class PlacePixels extends Node {

diff --git a/...main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePixels2.java b/...main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePixels2.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class PlacePixels2 extends Node {

diff --git a/.../java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePurplePixel.java b/.../java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/PlacePurplePixel.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class PlacePurplePixel extends Node {

diff --git a/.../java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ReleaseAutoPixel.java b/.../java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ReleaseAutoPixel.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class ReleaseAutoPixel extends Node {

diff --git a/...rc/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ResetGyro.java b/...rc/main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/ResetGyro.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class ResetGyro extends Node {

diff --git a/...ain/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/RumbleGamepad.java b/...ain/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/RumbleGamepad.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class RumbleGamepad extends Node {

diff --git a/...inspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SetBackboardFromSpikeTrajectory.java b/...inspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SetBackboardFromSpikeTrajectory.java
@@ -1,8 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import com.acmerobotics.roadrunner.trajectory.Trajectory;
-
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.Alliance;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.SpikePosition;

diff --git a/...n/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SetLiftPosition.java b/...n/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SetLiftPosition.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.Mechanisms.Lift;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 

diff --git a/...org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SpikeLocationTelemetry.java b/...org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/SpikeLocationTelemetry.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class SpikeLocationTelemetry extends Node {

diff --git a/.../java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateArmAndLift.java b/.../java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateArmAndLift.java
@@ -1,5 +1,5 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.ArmControl;
 

diff --git a/...ain/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateClimber.java b/...ain/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateClimber.java
@@ -1,5 +1,5 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class UpdateClimber extends Node {

diff --git a/...ain/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateGrabber.java b/...ain/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateGrabber.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class UpdateGrabber extends Node {

diff --git a/...main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateIntake.java b/...main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/UpdateIntake.java
@@ -1,5 +1,5 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class UpdateIntake extends Node {

diff --git a/.../main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/delayAction.java b/.../main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Actions/delayAction.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Actions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class delayAction extends Node {

diff --git a/...code/ftc16072/BehaviorTrees/Failover.java → ...072/BehaviorTrees/BaseNodes/Failover.java b/...code/ftc16072/BehaviorTrees/Failover.java → ...072/BehaviorTrees/BaseNodes/Failover.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes;
 
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 

diff --git a/...teamcode/ftc16072/BehaviorTrees/Node.java → ...tc16072/BehaviorTrees/BaseNodes/Node.java b/...teamcode/ftc16072/BehaviorTrees/Node.java → ...tc16072/BehaviorTrees/BaseNodes/Node.java
@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes;
 
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 

diff --git a/.../teamcode/ftc16072/BehaviorTrees/Not.java → ...ftc16072/BehaviorTrees/BaseNodes/Not.java b/.../teamcode/ftc16072/BehaviorTrees/Not.java → ...ftc16072/BehaviorTrees/BaseNodes/Not.java
@@ -1,11 +1,8 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes;
 
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
-import java.util.Arrays;
-import java.util.Collections;
-import java.util.List;
-
 //Not reverses a value
 public class Not extends Node {
     Node child;

diff --git a/...code/ftc16072/BehaviorTrees/Parallel.java → ...072/BehaviorTrees/BaseNodes/Parallel.java b/...code/ftc16072/BehaviorTrees/Parallel.java → ...072/BehaviorTrees/BaseNodes/Parallel.java
@@ -1,5 +1,6 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes;
 
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 import java.util.Arrays;

diff --git a/...code/ftc16072/BehaviorTrees/Sequence.java → ...072/BehaviorTrees/BaseNodes/Sequence.java b/...code/ftc16072/BehaviorTrees/Sequence.java → ...072/BehaviorTrees/BaseNodes/Sequence.java
@@ -1,5 +1,6 @@
-package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees;
+package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes;
 
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 import java.util.Arrays;

diff --git a/...rg/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/AreNotSlidesExtended.java b/...rg/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/AreNotSlidesExtended.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class AreNotSlidesExtended extends Node {

diff --git a/...a/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/AreSlidesExtended.java b/...a/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/AreSlidesExtended.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class AreSlidesExtended  extends Node {

diff --git a/.../org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/EnoughTimeForCycle.java b/.../org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/EnoughTimeForCycle.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class EnoughTimeForCycle extends Node{

diff --git a/...main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has1Pixel.java b/...main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has1Pixel.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class Has1Pixel extends Node {

diff --git a/.../java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has1or2Pixels.java b/.../java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has1or2Pixels.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class Has1or2Pixels extends Node {

diff --git a/...ain/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has2Pixels.java b/...ain/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/Has2Pixels.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class Has2Pixels extends Node {

diff --git a/.../org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/HasLessThan2Pixels.java b/.../org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/HasLessThan2Pixels.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class HasLessThan2Pixels extends Node {

diff --git a/...stinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfExtendSlideButtonPressed.java b/...stinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfExtendSlideButtonPressed.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class IfExtendSlideButtonPressed extends Node {

diff --git a/...rg/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLeftTriggerPressed.java b/...rg/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLeftTriggerPressed.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class IfLeftTriggerPressed extends Node {

diff --git a/...java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLiftAtBottom.java b/...java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLiftAtBottom.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class IfLiftAtBottom extends Node {

diff --git a/...res/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLiftToPixelGrabPosButtonPressed.java b/...res/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IfLiftToPixelGrabPosButtonPressed.java
@@ -1,7 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Failover;
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class IfLiftToPixelGrabPosButtonPressed  extends Node {

diff --git a/.../org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsBackboardInRange.java b/.../org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsBackboardInRange.java
@@ -1,10 +1,10 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class IsBackboardInRange extends Node {
-    public double BACKBOARD_RANGE_CM = 15;
+    public double BACKBOARD_RANGE_CM = 18;
     @Override
     public State tick(QQOpMode opmode) {
         if (opmode.robot.backDistanceSensor.distanceToBackboard()<BACKBOARD_RANGE_CM){

diff --git a/...org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsControllerDriving.java b/...org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsControllerDriving.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class IsControllerDriving extends Node {

diff --git a/...main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsEndgame.java b/...main/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsEndgame.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class IsEndgame extends Node {

diff --git a/.../org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsLastThreeSeconds.java b/.../org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsLastThreeSeconds.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class IsLastThreeSeconds extends Node {

diff --git a/...in/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsLeftSpike.java b/...in/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsLeftSpike.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.TeamPropLocation;
 

diff --git a/...n/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsRightSpike.java b/...n/java/org/firstinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/IsRightSpike.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 import org.firstinspires.ftc.teamcode.ftc16072.Util.TeamPropLocation;
 

diff --git a/...tinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/ifDroneReleaseButtonPressed.java b/...tinspires/ftc/teamcode/ftc16072/BehaviorTrees/Conditions/ifDroneReleaseButtonPressed.java
@@ -1,6 +1,6 @@
 package org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Conditions;
 
-import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.Node;
+import org.firstinspires.ftc.teamcode.ftc16072.BehaviorTrees.BaseNodes.Node;
 import org.firstinspires.ftc.teamcode.ftc16072.OpModes.QQOpMode;
 
 public class ifDroneReleaseButtonPressed extends Node {