update again

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/BaseAutoOpMode.java

@@ -20,7 +20,9 @@ public void runOpMode() throws InterruptedException {
         }
 
         // Start the intake forward immediately at autonomous start
-        robot.intake.runFromTrigger(AutonomousConstants.INTAKE_FORWARD_SPEED);
+        // robot.intake.runFromTrigger(AutonomousConstants.INTAKE_FORWARD_SPEED);
+        // note: only uncomment if the breif reversals is breaking something
+        // so that means dont uncomment it bc they werk
 
         // Wait 800 ms to let the Pinpoint calibrate on reset
         sleep(1200);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Controller.java

@@ -19,6 +19,9 @@ public class Controller {
     private Follower follower;
     private RevColorSensorV3 colorShootSensor;
     private boolean isShooting = false;
+    private volatile boolean isIntakeCycling = false;
+    private volatile boolean intakePaused = false;
+    private Thread intakeCycleThread = null;
 
     public Controller(LinearOpMode opMode, RobotContainer robot) {
         this.opMode = opMode;
@@ -51,10 +54,40 @@ public void startShooter(double rpm) {
     }
 
     /**
-     * Turns on the intake to the default forward speed.
+     * Starts a background thread that continuously cycles the intake:
+     *   - Forward at INTAKE_FORWARD_SPEED for SHOOT_FORWARD_CYCLE_MS
+     *   - Reverse at INTAKE_REVERSE_SPEED for SHOOT_REVERSE_CYCLE_MS (jam clearing)
+     * The cycle repeats for the entire opmode. Call disableIntake() to stop it.
+     * While paused (via pauseIntakeCycling()), only the forward phase runs.
      */
     public void enableIntake() {
-        robot.intake.runFromTrigger(AutonomousConstants.INTAKE_FORWARD_SPEED);
+        if (!opMode.opModeIsActive() || isIntakeCycling) return;
+
+        isIntakeCycling = true;
+        intakeCycleThread = new Thread(() -> {
+            while (isIntakeCycling && opMode.opModeIsActive()) {
+                // Phase 1: run forward
+                robot.intake.runFromTrigger(AutonomousConstants.INTAKE_FORWARD_SPEED);
+                long forwardEnd = System.currentTimeMillis() + AutonomousConstants.SHOOT_FORWARD_CYCLE_MS;
+                while (isIntakeCycling && opMode.opModeIsActive() && System.currentTimeMillis() < forwardEnd) {
+                    try { Thread.sleep(10); } catch (InterruptedException e) { return; }
+                }
+
+                if (!isIntakeCycling || !opMode.opModeIsActive()) break;
+
+                // Phase 2: briefly reverse to clear jams — skipped while paused
+                if (!intakePaused) {
+                    robot.intake.reverse(AutonomousConstants.INTAKE_REVERSE_SPEED);
+                    long reverseEnd = System.currentTimeMillis() + AutonomousConstants.SHOOT_REVERSE_CYCLE_MS;
+                    while (isIntakeCycling && opMode.opModeIsActive() && System.currentTimeMillis() < reverseEnd) {
+                        try { Thread.sleep(10); } catch (InterruptedException e) { return; }
+                    }
+                }
+            }
+            robot.intake.stop();
+        });
+        intakeCycleThread.setDaemon(true);
+        intakeCycleThread.start();
     }
 
     public void runIntakeForward() {
@@ -66,9 +99,33 @@ public void runIntakeReverse() {
     }
 
     public void disableIntake() {
+        isIntakeCycling = false;
+        if (intakeCycleThread != null) {
+            intakeCycleThread.interrupt();
+            try { intakeCycleThread.join(500); } catch (InterruptedException ignored) {}
+            intakeCycleThread = null;
+        }
         robot.intake.stop();
     }
 
+    /**
+     * Pauses the reverse (jam-clearing) phase of the intake cycle.
+     * The intake will run forward-only until resumeIntakeCycling() is called.
+     * Use this while driving over intake positions so the intake stays engaged.
+     */
+    public void pauseIntakeCycling() {
+        intakePaused = true;
+        // Immediately drive forward so there is no gap at the moment of pause
+        robot.intake.runFromTrigger(AutonomousConstants.INTAKE_FORWARD_SPEED);
+    }
+
+    /**
+     * Resumes the full forward→reverse jam-clearing cycle.
+     */
+    public void resumeIntakeCycling() {
+        intakePaused = false;
+    }
+
     /**
      * Drives to a point and blocks until the robot is near the target or opmode stops.
      */
@@ -148,8 +205,7 @@ public void shoot(long durationMs) {
     public void update() {
         follower.update();
 
-        // Always ensure the intake is running forward during autonomous
-        robot.intake.runFromTrigger(AutonomousConstants.INTAKE_FORWARD_SPEED);
+        // Intake is managed by the background cycling thread when enableIntake() is active
 
         if (!isShooting) {
             double feederPower;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/opmodes/BlueBack12.java

@@ -27,7 +27,7 @@ protected void runAutonomous() {
         controller.shoot(AutonomousConstants.PRELOAD_SHOOT_TIME);
 
         // Engage intake (for rest of auton)
-        controller.runIntakeForward();
+        controller.enableIntake();
 
         if (!AutonomousConstants.SKIP_HUMAN_INTAKE) {
             // 3. move to human player ball intake position
@@ -39,23 +39,27 @@ protected void runAutonomous() {
         }
 
         // 5. move to intake position 1 for back row intake
-        controller.pathTo(AutonomousPoints.Blue.Back.INTAKE_CLOSE_1, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
+        controller.pauseIntakeCycling();
+        controller.pathTo(AutonomousPoints.Blue.Back.INTAKE_CLOSE_1);
 
         // 6. move to intake position 2 for back row intake
         controller.pathTo(AutonomousPoints.Blue.Back.INTAKE_CLOSE_2, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
 
         // 7. shoot balls
         controller.pathTo(AutonomousPoints.Blue.Back.SHOOT);
+        controller.resumeIntakeCycling();
         controller.shoot(AutonomousConstants.CYCLE_SHOOT_TIME);
 
         // 8. move to intake position 1 for middle row intake
-        controller.pathTo(AutonomousPoints.Blue.Back.INTAKE_MIDDLE_1, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
+        controller.pauseIntakeCycling();
+        controller.pathTo(AutonomousPoints.Blue.Back.INTAKE_MIDDLE_1);
 
         // 9. move to intake position 2 for middle row intake
         controller.pathTo(AutonomousPoints.Blue.Back.INTAKE_MIDDLE_2, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
 
         // 10. shoot balls
         controller.pathTo(AutonomousPoints.Blue.Back.SHOOT);
+        controller.resumeIntakeCycling();
         controller.shoot(AutonomousConstants.CYCLE_SHOOT_TIME);
 
         // 11. park back position

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/opmodes/BlueBack6.java

@@ -27,7 +27,7 @@ protected void runAutonomous() {
         controller.shoot(AutonomousConstants.PRELOAD_SHOOT_TIME);
 
         // Engage intake (for rest of auton)
-        controller.runIntakeForward();
+        controller.enableIntake();
 
         if (!AutonomousConstants.SKIP_HUMAN_INTAKE) {
             // 3. move to human player ball intake position

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/opmodes/BlueBack9.java

@@ -27,7 +27,7 @@ protected void runAutonomous() {
         controller.shoot(AutonomousConstants.PRELOAD_SHOOT_TIME);
 
         // Engage intake (for rest of auton)
-        controller.runIntakeForward();
+        controller.enableIntake();
 
         if (!AutonomousConstants.SKIP_HUMAN_INTAKE) {
             // 3. move to human player ball intake position
@@ -39,13 +39,15 @@ protected void runAutonomous() {
         }
 
         // 5. move to intake position 1 for back row intake
-        controller.pathTo(AutonomousPoints.Blue.Back.INTAKE_CLOSE_1, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
+        controller.pauseIntakeCycling();
+        controller.pathTo(AutonomousPoints.Blue.Back.INTAKE_CLOSE_1);
 
         // 6. move to intake position 2 for back row intake
         controller.pathTo(AutonomousPoints.Blue.Back.INTAKE_CLOSE_2, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
 
         // 7. shoot balls
         controller.pathTo(AutonomousPoints.Blue.Back.SHOOT);
+        controller.resumeIntakeCycling();
         controller.shoot(AutonomousConstants.CYCLE_SHOOT_TIME);
 
         // 8. park back position

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/opmodes/BlueFront6.java

@@ -27,16 +27,18 @@ protected void runAutonomous() {
         controller.shoot(AutonomousConstants.PRELOAD_SHOOT_TIME);
 
         // Engage intake (for rest of auton)
-        controller.runIntakeForward();
+        controller.enableIntake();
 
         // 3. move to intake position 1 for far row intake
-        controller.pathTo(AutonomousPoints.Blue.Front.INTAKE_FAR_1, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
+        controller.pauseIntakeCycling();
+        controller.pathTo(AutonomousPoints.Blue.Front.INTAKE_FAR_1);
 
         // 4. move to intake position 2 for far row intake
         controller.pathTo(AutonomousPoints.Blue.Front.INTAKE_FAR_2, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
 
         // 5. move to shoot position
         controller.pathTo(AutonomousPoints.Blue.Front.SHOOT);
+        controller.resumeIntakeCycling();
 
         // 6. shoot balls
         controller.shoot(AutonomousConstants.CYCLE_SHOOT_TIME);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/opmodes/BlueFront9.java

@@ -27,28 +27,32 @@ protected void runAutonomous() {
         controller.shoot(AutonomousConstants.PRELOAD_SHOOT_TIME);
 
         // Engage intake (for rest of auton)
-        controller.runIntakeForward();
+        controller.enableIntake();
 
         // 3. move to intake position 1 for far row intake
-        controller.pathTo(AutonomousPoints.Blue.Front.INTAKE_FAR_1, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
+        controller.pauseIntakeCycling();
+        controller.pathTo(AutonomousPoints.Blue.Front.INTAKE_FAR_1);
 
         // 4. move to intake position 2 for far row intake
         controller.pathTo(AutonomousPoints.Blue.Front.INTAKE_FAR_2, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
 
         // 5. move to shoot position
         controller.pathTo(AutonomousPoints.Blue.Front.SHOOT);
+        controller.resumeIntakeCycling();
 
         // 6. shoot balls
         controller.shoot(AutonomousConstants.CYCLE_SHOOT_TIME);
 
         // 7. move to intake position 1 for middle row intake
-        controller.pathTo(AutonomousPoints.Blue.Front.INTAKE_MID_1, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
+        controller.pauseIntakeCycling();
+        controller.pathTo(AutonomousPoints.Blue.Front.INTAKE_MID_1);
 
         // 8. move to intake position 2 for middle row intake
         controller.pathTo(AutonomousPoints.Blue.Front.INTAKE_MID_2, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
 
         // 9. move to shoot position
         controller.pathTo(AutonomousPoints.Blue.Front.SHOOT);
+        controller.resumeIntakeCycling();
 
         // 10. shoot balls
         controller.shoot(AutonomousConstants.CYCLE_SHOOT_TIME);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/opmodes/RedBack12.java

@@ -26,7 +26,7 @@ protected void runAutonomous() {
         controller.shoot(AutonomousConstants.PRELOAD_SHOOT_TIME);
 
         // Engage intake (for rest of auton)
-        controller.runIntakeForward();
+        controller.enableIntake();
 
         if (!AutonomousConstants.SKIP_HUMAN_INTAKE) {
             // 3. move to human player ball intake position
@@ -38,23 +38,27 @@ protected void runAutonomous() {
         }
 
         // 5. move to intake position 1 for back row intake
-        controller.pathTo(AutonomousPoints.Red.Back.INTAKE_CLOSE_1, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
+        controller.pauseIntakeCycling();
+        controller.pathTo(AutonomousPoints.Red.Back.INTAKE_CLOSE_1);
 
         // 6. move to intake position 2 for back row intake
         controller.pathTo(AutonomousPoints.Red.Back.INTAKE_CLOSE_2, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
 
         // 7. shoot balls
         controller.pathTo(AutonomousPoints.Red.Back.SHOOT);
+        controller.resumeIntakeCycling();
         controller.shoot(AutonomousConstants.CYCLE_SHOOT_TIME);
 
         // 8. move to intake position 1 for middle row intake
-        controller.pathTo(AutonomousPoints.Red.Back.INTAKE_MIDDLE_1, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
+        controller.pauseIntakeCycling();
+        controller.pathTo(AutonomousPoints.Red.Back.INTAKE_MIDDLE_1);
 
         // 9. move to intake position 2 for middle row intake
         controller.pathTo(AutonomousPoints.Red.Back.INTAKE_MIDDLE_2, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
 
         // 10. shoot balls
         controller.pathTo(AutonomousPoints.Red.Back.SHOOT);
+        controller.resumeIntakeCycling();
         controller.shoot(AutonomousConstants.CYCLE_SHOOT_TIME);
 
         // 11. park back position

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/opmodes/RedBack6.java

@@ -27,7 +27,7 @@ protected void runAutonomous() {
         controller.shoot(AutonomousConstants.PRELOAD_SHOOT_TIME);
 
         // Engage intake (for rest of auton)
-        controller.runIntakeForward();
+        controller.enableIntake();
 
         if (!AutonomousConstants.SKIP_HUMAN_INTAKE) {
             // 3. move to human player ball intake position

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/opmodes/RedBack9.java

@@ -26,7 +26,7 @@ protected void runAutonomous() {
         controller.shoot(AutonomousConstants.PRELOAD_SHOOT_TIME);
 
         // Engage intake (for rest of auton)
-        controller.runIntakeForward();
+        controller.enableIntake();
 
         if (!AutonomousConstants.SKIP_HUMAN_INTAKE) {
             // 3. move to human player ball intake position
@@ -38,13 +38,15 @@ protected void runAutonomous() {
         }
 
         // 5. move to intake position 1 for back row intake
-        controller.pathTo(AutonomousPoints.Red.Back.INTAKE_CLOSE_1, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
+        controller.pauseIntakeCycling();
+        controller.pathTo(AutonomousPoints.Red.Back.INTAKE_CLOSE_1);
 
         // 6. move to intake position 2 for back row intake
         controller.pathTo(AutonomousPoints.Red.Back.INTAKE_CLOSE_2, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
 
         // 7. shoot balls
         controller.pathTo(AutonomousPoints.Red.Back.SHOOT);
+        controller.resumeIntakeCycling();
         controller.shoot(AutonomousConstants.CYCLE_SHOOT_TIME);
 
         // 8. park back position

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/opmodes/RedFront6.java

@@ -26,16 +26,18 @@ protected void runAutonomous() {
         controller.shoot(AutonomousConstants.PRELOAD_SHOOT_TIME);
 
         // Engage intake (for rest of auton)
-        controller.runIntakeForward();
+        controller.enableIntake();
 
         // 3. move to intake position 1 for far row intake
-        controller.pathTo(AutonomousPoints.Red.Front.INTAKE_FAR_1, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
+        controller.pauseIntakeCycling();
+        controller.pathTo(AutonomousPoints.Red.Front.INTAKE_FAR_1);
 
         // 4. move to intake position 2 for far row intake
         controller.pathTo(AutonomousPoints.Red.Front.INTAKE_FAR_2, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
 
         // 5. move to shoot position
         controller.pathTo(AutonomousPoints.Red.Front.SHOOT);
+        controller.resumeIntakeCycling();
 
         // 6. shoot balls
         controller.shoot(AutonomousConstants.CYCLE_SHOOT_TIME);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/opmodes/RedFront9.java

@@ -26,28 +26,32 @@ protected void runAutonomous() {
         controller.shoot(AutonomousConstants.PRELOAD_SHOOT_TIME);
 
         // Engage intake (for rest of auton)
-        controller.runIntakeForward();
+        controller.enableIntake();
 
         // 3. move to intake position 1 for far row intake
-        controller.pathTo(AutonomousPoints.Red.Front.INTAKE_FAR_1, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
-
+        controller.pauseIntakeCycling();
+        controller.pathTo(AutonomousPoints.Red.Front.INTAKE_FAR_1);
+
         // 4. move to intake position 2 for far row intake
         controller.pathTo(AutonomousPoints.Red.Front.INTAKE_FAR_2, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
 
         // 5. move to shoot position
         controller.pathTo(AutonomousPoints.Red.Front.SHOOT);
+        controller.resumeIntakeCycling();
 
         // 6. shoot balls
         controller.shoot(AutonomousConstants.CYCLE_SHOOT_TIME);
 
         // 7. move to intake position 1 for middle row intake
-        controller.pathTo(AutonomousPoints.Red.Front.INTAKE_MID_1, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
+        controller.pauseIntakeCycling();
+        controller.pathTo(AutonomousPoints.Red.Front.INTAKE_MID_1);
 
         // 8. move to intake position 2 for middle row intake
         controller.pathTo(AutonomousPoints.Red.Front.INTAKE_MID_2, AutonomousConstants.INTAKE_PATH_SPEED_SCALING);
 
         // 9. move to shoot position
         controller.pathTo(AutonomousPoints.Red.Front.SHOOT);
+        controller.resumeIntakeCycling();
 
         // 10. shoot balls
         controller.shoot(AutonomousConstants.CYCLE_SHOOT_TIME);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/AutonomousConstants.java

@@ -16,11 +16,11 @@ public final class AutonomousConstants {
     public static long SHOOT_FORWARD_CYCLE_MS = 1000;
     public static long SHOOT_REVERSE_CYCLE_MS = 200;
 
-    public static double INTAKE_FORWARD_SPEED = 1.0;
+    public static double INTAKE_FORWARD_SPEED = 0.9;
     public static double INTAKE_REVERSE_SPEED = 0.5;
 
     // Pathing speed scaling for close/back-row intake moves
-    public static double INTAKE_PATH_SPEED_SCALING = 0.30;
+    public static double INTAKE_PATH_SPEED_SCALING = 0.21;
 
     // Feeder timings/speeds during autonomous
     public static double FEEDER_SPEED = 1.0;

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/AutonomousPoints.java

@@ -19,10 +19,10 @@ public static final class Back {
 
         public static final class Front {
             public static final Pose SHOOT = new Pose(-49.65, -1.28, Math.toRadians(-83.59));
-            public static final Pose INTAKE_FAR_1 = new Pose(-40.99, -17.66, Math.toRadians(142.06));
-            public static final Pose INTAKE_FAR_2 = new Pose(-22.61, -33.93, Math.toRadians(140.47));
-            public static final Pose INTAKE_MID_1 = new Pose(-54.56, -34.25, Math.toRadians(140.66));
-            public static final Pose INTAKE_MID_2 = new Pose(-38.80, -53.29, Math.toRadians(139.87));
+            public static final Pose INTAKE_FAR_1 = new Pose(-42.82, -14.32, Math.toRadians(142.06));
+            public static final Pose INTAKE_FAR_2 = new Pose(-20.43, -31.04, Math.toRadians(140.47));
+            public static final Pose INTAKE_MID_1 = new Pose(-56.74, -31.18, Math.toRadians(140.66));
+            public static final Pose INTAKE_MID_2 = new Pose(-35.18, -49.58, Math.toRadians(139.87));
             public static final Pose PARK_FAR = new Pose(-31.36, 17.58, Math.toRadians(-41.80));
         }
     }