Fixed issues, ready to test

build.gradle.kts

@@ -14,7 +14,8 @@ java {
 
 // Exclude FTC hardware files from PC compilation (they need Android SDK)
 tasks.withType<JavaCompile> {
-    exclude("**/FtcMotor.java")
+    exclude("**/FtcDCMotor.java")
+    exclude("**/FtcCRServo.java")
     exclude("**/FtcPotentiometer.java")
     exclude("**/opmodes/ChuteOpMode.java")
 }
@@ -24,7 +25,8 @@ tasks.javadoc {
     include("**/subsystems/chute/**")
     
     // But exclude FTC hardware files (they need Android SDK)
-    exclude("**/FtcMotor.java")
+    exclude("**/FtcDCMotor.java")
+    exclude("**/FtcCRServo.java")
     exclude("**/FtcPotentiometer.java")
     exclude("**/opmodes/**")
     
@@ -50,7 +52,10 @@ tasks.register<Copy>("deployToSDK") {
     val sdkDir = "/home/eric/.weevil/ftc-sdk"
     
     from("src/main/java") {
-        include("robot/**/*.java")
+        include("org/firstinspires/ftc/teamcode/**/*.java")
+        exclude("**/mock/MockCRServo.java")
+        exclude("**/mock/MockDCMotor.java")
+        exclude("**/mock/MockPotentiometer.java")
     }
     
     into(layout.projectDirectory.dir("$sdkDir/TeamCode/src/main/java"))

docs/allclasses-index.html

@@ -61,14 +61,6 @@ loadScripts(document, 'script');</script>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
 <div class="block">Simple chute controller with homing and position control.</div>
 </div>
-<div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></div>
-<div class="col-last even-row-color all-classes-table all-classes-table-tab2">
-<div class="block">Simple mock motor.</div>
-</div>
-<div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></div>
-<div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
-<div class="block">Simple mock potentiometer with configurable wraparound.</div>
-</div>
 </div>
 </div>
 </main>

docs/index-all.html

@@ -68,7 +68,7 @@ loadScripts(document, 'script');</script>
 <dd>
 <div class="block">Creates chute with mock hardware and custom pot wraparound.</div>
 </dd>
-<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html#%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController,org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor,org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer)" class="member-name-link">Chute(ChuteController, MockMotor, MockPotentiometer)</a> - Constructor for class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">Chute</a></dt>
+<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html#%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController,org.firstinspires.ftc.teamcode.mock.MockMotor,org.firstinspires.ftc.teamcode.mock.MockPotentiometer)" class="member-name-link">Chute(ChuteController, MockMotor, MockPotentiometer)</a> - Constructor for class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">Chute</a></dt>
 <dd>
 <div class="block">Creates chute with real FTC hardware adapters.</div>
 </dd>
@@ -76,7 +76,7 @@ loadScripts(document, 'script');</script>
 <dd>
 <div class="block">Simple chute controller with homing and position control.</div>
 </dd>
-<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html#%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor,org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer,double)" class="member-name-link">ChuteController(MockMotor, MockPotentiometer, double)</a> - Constructor for class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a></dt>
+<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html#%3Cinit%3E(org.firstinspires.ftc.teamcode.mock.MockMotor,org.firstinspires.ftc.teamcode.mock.MockPotentiometer,double)" class="member-name-link">ChuteController(MockMotor, MockPotentiometer, double)</a> - Constructor for class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a></dt>
 <dd>
 <div class="block">Create a new chute controller.</div>
 </dd>
@@ -104,22 +104,14 @@ loadScripts(document, 'script');</script>
 <dd>
 <div class="block">Get current position of chute.</div>
 </dd>
-<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html#getPosition()" class="member-name-link">getPosition()</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></dt>
-<dd>&nbsp;</dd>
 <dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html#getPot()" class="member-name-link">getPot()</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">Chute</a></dt>
 <dd>
 <div class="block">Gets potentiometer instance for testing.</div>
 </dd>
-<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html#getPower()" class="member-name-link">getPower()</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></dt>
-<dd>&nbsp;</dd>
-<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html#getVoltage()" class="member-name-link">getVoltage()</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></dt>
-<dd>&nbsp;</dd>
 <dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html#getWrapAmount()" class="member-name-link">getWrapAmount()</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a></dt>
 <dd>
 <div class="block">Get the pot wraparound amount.</div>
 </dd>
-<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html#getWrapAmount()" class="member-name-link">getWrapAmount()</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></dt>
-<dd>&nbsp;</dd>
 </dl>
 <h2 class="title" id="I:H">H</h2>
 <dl class="index">
@@ -157,24 +149,6 @@ loadScripts(document, 'script');</script>
 </dl>
 <h2 class="title" id="I:M">M</h2>
 <dl class="index">
-<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a> - Class in <a href="org/firstinspires/ftc/teamcode/subsystems/chute/package-summary.html">org.firstinspires.ftc.teamcode.subsystems.chute</a></dt>
-<dd>
-<div class="block">Simple mock motor.</div>
-</dd>
-<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html#%3Cinit%3E()" class="member-name-link">MockMotor()</a> - Constructor for class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></dt>
-<dd>&nbsp;</dd>
-<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a> - Class in <a href="org/firstinspires/ftc/teamcode/subsystems/chute/package-summary.html">org.firstinspires.ftc.teamcode.subsystems.chute</a></dt>
-<dd>
-<div class="block">Simple mock potentiometer with configurable wraparound.</div>
-</dd>
-<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html#%3Cinit%3E()" class="member-name-link">MockPotentiometer()</a> - Constructor for class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></dt>
-<dd>
-<div class="block">Create potentiometer with default 2pi wraparound.</div>
-</dd>
-<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html#%3Cinit%3E(double)" class="member-name-link">MockPotentiometer(double)</a> - Constructor for class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></dt>
-<dd>
-<div class="block">Create potentiometer with custom wraparound amount.</div>
-</dd>
 <dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html#moveToPosition(double)" class="member-name-link">moveToPosition(double)</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a></dt>
 <dd>
 <div class="block">Move to target position.</div>
@@ -187,12 +161,6 @@ loadScripts(document, 'script');</script>
 </dl>
 <h2 class="title" id="I:S">S</h2>
 <dl class="index">
-<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html#setPosition(double)" class="member-name-link">setPosition(double)</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></dt>
-<dd>&nbsp;</dd>
-<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html#setPosition(double)" class="member-name-link">setPosition(double)</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></dt>
-<dd>&nbsp;</dd>
-<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html#setPower(double)" class="member-name-link">setPower(double)</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></dt>
-<dd>&nbsp;</dd>
 <dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html#setTargetPosition(double)" class="member-name-link">setTargetPosition(double)</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">Chute</a></dt>
 <dd>
 <div class="block">Commands chute to move to target position.</div>
@@ -216,10 +184,6 @@ loadScripts(document, 'script');</script>
 <dd>
 <div class="block">Update controller state - call this every loop iteration.</div>
 </dd>
-<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html#update(double)" class="member-name-link">update(double)</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></dt>
-<dd>&nbsp;</dd>
-<dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html#updatePosition(double)" class="member-name-link">updatePosition(double)</a> - Method in class org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></dt>
-<dd>&nbsp;</dd>
 <dt><a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html#usage-with-real-hardware-heading" class="search-tag-link">Usage with Real Hardware</a> - Search tag in class org.firstinspires.ftc.teamcode.subsystems.chute.Chute</dt>
 <dd>Section</dd>
 </dl>

docs/member-search-index.js

@@ -1 +1 @@
-memberSearchIndex = [{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"Chute(ChuteController, MockMotor, MockPotentiometer)","u":"%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController,org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor,org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"Chute(double)","u":"%3Cinit%3E(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"Chute(double, double)","u":"%3Cinit%3E(double,double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"ChuteController(MockMotor, MockPotentiometer, double)","u":"%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor,org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer,double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"getHomeVoltage()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"getMotor()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"getPosition()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"getPosition()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockMotor","l":"getPosition()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"getPot()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockMotor","l":"getPower()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockPotentiometer","l":"getVoltage()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"getWrapAmount()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockPotentiometer","l":"getWrapAmount()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"home()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"home()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"isAtTarget()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"isHomed()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"isHomed()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"isMoving()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"isMoving()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockMotor","l":"MockMotor()","u":"%3Cinit%3E()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockPotentiometer","l":"MockPotentiometer()","u":"%3Cinit%3E()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockPotentiometer","l":"MockPotentiometer(double)","u":"%3Cinit%3E(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"moveToPosition(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockMotor","l":"setPosition(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockPotentiometer","l":"setPosition(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockMotor","l":"setPower(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"setTargetPosition(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"stop()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"stop()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"update(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"update(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockMotor","l":"update(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"MockPotentiometer","l":"updatePosition(double)"}];updateSearchResults();
+memberSearchIndex = [{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"Chute(ChuteController, MockMotor, MockPotentiometer)","u":"%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController,org.firstinspires.ftc.teamcode.mock.MockMotor,org.firstinspires.ftc.teamcode.mock.MockPotentiometer)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"Chute(double)","u":"%3Cinit%3E(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"Chute(double, double)","u":"%3Cinit%3E(double,double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"ChuteController(MockMotor, MockPotentiometer, double)","u":"%3Cinit%3E(org.firstinspires.ftc.teamcode.mock.MockMotor,org.firstinspires.ftc.teamcode.mock.MockPotentiometer,double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"getHomeVoltage()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"getMotor()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"getPosition()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"getPosition()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"getPot()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"getWrapAmount()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"home()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"home()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"isAtTarget()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"isHomed()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"isHomed()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"isMoving()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"isMoving()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"moveToPosition(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"setTargetPosition(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"stop()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"stop()"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"Chute","l":"update(double)"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","c":"ChuteController","l":"update(double)"}];updateSearchResults();

docs/org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html

@@ -111,7 +111,14 @@ loadScripts(document, 'script');</script>
  
  <h2 id="usage-with-real-hardware-heading">Usage with Real Hardware</h2>
  <pre>
- FtcMotor motor = new FtcMotor(hardwareMap.get(DcMotor.class, "chute_motor"));
+ // With a DcMotor:
+ FtcDCMotor motor = new FtcDCMotor(hardwareMap.get(DcMotor.class, "chute_motor"));
+ FtcPotentiometer pot = new FtcPotentiometer(hardwareMap.get(AnalogInput.class, "chute_pot"));
+ ChuteController controller = new ChuteController(motor, pot, 4 * Math.PI);
+ Chute chute = new Chute(controller, motor, pot);
+
+ // With a CRServo (drop-in replacement):
+ FtcCRServo motor = new FtcCRServo(hardwareMap.get(CRServo.class, "chute_servo"));
  FtcPotentiometer pot = new FtcPotentiometer(hardwareMap.get(AnalogInput.class, "chute_pot"));
  ChuteController controller = new ChuteController(motor, pot, 4 * Math.PI);
  Chute chute = new Chute(controller, motor, pot);
@@ -130,7 +137,19 @@ loadScripts(document, 'script');</script>
 <dd>
 <ul class="tag-list-long">
 <li><a href="ChuteController.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute"><code>ChuteController</code></a></li>
-<li><a href="MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute"><code>MockPotentiometer</code></a></li>
+<li>
+<details class="invalid-tag">
+<summary>invalid reference</summary>
+<pre><code>FtcDCMotor</code></pre>
+</details>
+</li>
+<li>
+<details class="invalid-tag">
+<summary>invalid reference</summary>
+<pre><code>FtcCRServo</code></pre>
+</details>
+</li>
+<li><code>MockPotentiometer</code></li>
 <li>
 <details class="invalid-tag">
 <summary>invalid reference</summary>
@@ -160,9 +179,9 @@ loadScripts(document, 'script');</script>
 <div class="col-last odd-row-color">
 <div class="block">Creates chute with mock hardware and custom pot wraparound.</div>
 </div>
-<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController,org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor,org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer)" class="member-name-link">Chute</a><wbr>(<a href="ChuteController.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a>&nbsp;controller,
+<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController,org.firstinspires.ftc.teamcode.mock.MockMotor,org.firstinspires.ftc.teamcode.mock.MockPotentiometer)" class="member-name-link">Chute</a><wbr>(<a href="ChuteController.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a>&nbsp;controller,
- <a href="MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a>&nbsp;motor,
+ org.firstinspires.ftc.teamcode.mock.MockMotor&nbsp;motor,
- <a href="MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a>&nbsp;pot)</code></div>
+ org.firstinspires.ftc.teamcode.mock.MockPotentiometer&nbsp;pot)</code></div>
 <div class="col-last even-row-color">
 <div class="block">Creates chute with real FTC hardware adapters.</div>
 </div>
@@ -180,7 +199,7 @@ loadScripts(document, 'script');</script>
 <div class="table-header col-first">Modifier and Type</div>
 <div class="table-header col-second">Method</div>
 <div class="table-header col-last">Description</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></code></div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>org.firstinspires.ftc.teamcode.mock.MockMotor</code></div>
 <div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getMotor()" class="member-name-link">getMotor</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Gets motor instance for testing.</div>
@@ -190,7 +209,7 @@ loadScripts(document, 'script');</script>
 <div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Gets current position of chute.</div>
 </div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></code></div>
+<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>org.firstinspires.ftc.teamcode.mock.MockPotentiometer</code></div>
 <div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPot()" class="member-name-link">getPot</a>()</code></div>
 <div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
 <div class="block">Gets potentiometer instance for testing.</div>
@@ -274,17 +293,17 @@ loadScripts(document, 'script');</script>
 </section>
 </li>
 <li>
-<section class="detail" id="&lt;init&gt;(org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController,org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor,org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer)">
+<section class="detail" id="&lt;init&gt;(org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController,org.firstinspires.ftc.teamcode.mock.MockMotor,org.firstinspires.ftc.teamcode.mock.MockPotentiometer)">
 <h3>Chute</h3>
 <div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">Chute</span><wbr><span class="parameters">(<a href="ChuteController.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a>&nbsp;controller,
- <a href="MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a>&nbsp;motor,
+ org.firstinspires.ftc.teamcode.mock.MockMotor&nbsp;motor,
- <a href="MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a>&nbsp;pot)</span></div>
+ org.firstinspires.ftc.teamcode.mock.MockPotentiometer&nbsp;pot)</span></div>
 <div class="block">Creates chute with real FTC hardware adapters.
  Use this constructor in actual FTC OpModes with hardware from hardwareMap.</div>
 <dl class="notes">
 <dt>Parameters:</dt>
 <dd><code>controller</code> - Pre-configured controller with real hardware</dd>
-<dd><code>motor</code> - FtcMotor adapter wrapping DcMotor</dd>
+<dd><code>motor</code> - Motor adapter (FtcDCMotor or FtcCRServo)</dd>
 <dd><code>pot</code> - FtcPotentiometer adapter wrapping AnalogInput</dd>
 <dt>See Also:</dt>
 <dd>
@@ -292,7 +311,13 @@ loadScripts(document, 'script');</script>
 <li>
 <details class="invalid-tag">
 <summary>invalid reference</summary>
-<pre><code>FtcMotor</code></pre>
+<pre><code>FtcDCMotor</code></pre>
+</details>
+</li>
+<li>
+<details class="invalid-tag">
+<summary>invalid reference</summary>
+<pre><code>FtcCRServo</code></pre>
 </details>
 </li>
 <li>
@@ -401,7 +426,7 @@ loadScripts(document, 'script');</script>
 <li>
 <section class="detail" id="getMotor()">
 <h3>getMotor</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></span>&nbsp;<span class="element-name">getMotor</span>()</div>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">org.firstinspires.ftc.teamcode.mock.MockMotor</span>&nbsp;<span class="element-name">getMotor</span>()</div>
 <div class="block">Gets motor instance for testing.</div>
 <dl class="notes">
 <dt>Returns:</dt>
@@ -412,7 +437,7 @@ loadScripts(document, 'script');</script>
 <li>
 <section class="detail" id="getPot()">
 <h3>getPot</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type"><a href="MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></span>&nbsp;<span class="element-name">getPot</span>()</div>
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">org.firstinspires.ftc.teamcode.mock.MockPotentiometer</span>&nbsp;<span class="element-name">getPot</span>()</div>
 <div class="block">Gets potentiometer instance for testing.</div>
 <dl class="notes">
 <dt>Returns:</dt>

docs/org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html

@@ -102,8 +102,8 @@ loadScripts(document, 'script');</script>
 <div class="summary-table two-column-summary">
 <div class="table-header col-first">Constructor</div>
 <div class="table-header col-last">Description</div>
-<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor,org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer,double)" class="member-name-link">ChuteController</a><wbr>(<a href="MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a>&nbsp;motor,
+<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(org.firstinspires.ftc.teamcode.mock.MockMotor,org.firstinspires.ftc.teamcode.mock.MockPotentiometer,double)" class="member-name-link">ChuteController</a><wbr>(org.firstinspires.ftc.teamcode.mock.MockMotor&nbsp;motor,
- <a href="MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a>&nbsp;pot,
+ org.firstinspires.ftc.teamcode.mock.MockPotentiometer&nbsp;pot,
  double&nbsp;maxExtension)</code></div>
 <div class="col-last even-row-color">
 <div class="block">Create a new chute controller.</div>
@@ -185,10 +185,10 @@ loadScripts(document, 'script');</script>
 <h2>Constructor Details</h2>
 <ul class="member-list">
 <li>
-<section class="detail" id="&lt;init&gt;(org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor,org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer,double)">
+<section class="detail" id="&lt;init&gt;(org.firstinspires.ftc.teamcode.mock.MockMotor,org.firstinspires.ftc.teamcode.mock.MockPotentiometer,double)">
 <h3>ChuteController</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">ChuteController</span><wbr><span class="parameters">(<a href="MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a>&nbsp;motor,
+<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">ChuteController</span><wbr><span class="parameters">(org.firstinspires.ftc.teamcode.mock.MockMotor&nbsp;motor,
- <a href="MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a>&nbsp;pot,
+ org.firstinspires.ftc.teamcode.mock.MockPotentiometer&nbsp;pot,
  double&nbsp;maxExtension)</span></div>
 <div class="block">Create a new chute controller.</div>
 <dl class="notes">

docs/org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html

@@ -1,207 +0,0 @@
-<!DOCTYPE HTML>
-<html lang="en">
-<head>
-<!-- Generated by javadoc (21) -->
-<title>MockMotor (FtcRobotController API)</title>
-<meta name="viewport" content="width=device-width, initial-scale=1">
-<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="description" content="declaration: package: org.firstinspires.ftc.teamcode.subsystems.chute, class: MockMotor">
-<meta name="generator" content="javadoc/ClassWriterImpl">
-<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
-<link rel="stylesheet" type="text/css" href="../../../../../../script-dir/jquery-ui.min.css" title="Style">
-<script type="text/javascript" src="../../../../../../script.js"></script>
-<script type="text/javascript" src="../../../../../../script-dir/jquery-3.7.1.min.js"></script>
-<script type="text/javascript" src="../../../../../../script-dir/jquery-ui.min.js"></script>
-</head>
-<body class="class-declaration-page">
-<script type="text/javascript">var pathtoroot = "../../../../../../";
-loadScripts(document, 'script');</script>
-<noscript>
-<div>JavaScript is disabled on your browser.</div>
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-<div class="flex-box">
-<header role="banner" class="flex-header">
-<nav role="navigation">
-<!-- ========= START OF TOP NAVBAR ======= -->
-<div class="top-nav" id="navbar-top"><button id="navbar-toggle-button" aria-controls="navbar-top" aria-expanded="false" aria-label="Toggle navigation links"><span class="nav-bar-toggle-icon">&nbsp;</span><span class="nav-bar-toggle-icon">&nbsp;</span><span class="nav-bar-toggle-icon">&nbsp;</span></button>
-<div class="skip-nav"><a href="#skip-navbar-top" title="Skip navigation links">Skip navigation links</a></div>
-<ul id="navbar-top-firstrow" class="nav-list" title="Navigation">
-<li><a href="package-summary.html">Package</a></li>
-<li class="nav-bar-cell1-rev">Class</li>
-<li><a href="package-tree.html">Tree</a></li>
-<li><a href="../../../../../../index-all.html">Index</a></li>
-<li><a href="../../../../../../help-doc.html#class">Help</a></li>
-</ul>
-<ul class="sub-nav-list-small">
-<li>
-<p>Summary:</p>
-<ul>
-<li>Nested</li>
-<li>Field</li>
-<li><a href="#constructor-summary">Constr</a></li>
-<li><a href="#method-summary">Method</a></li>
-</ul>
-</li>
-<li>
-<p>Detail:</p>
-<ul>
-<li>Field</li>
-<li><a href="#constructor-detail">Constr</a></li>
-<li><a href="#method-detail">Method</a></li>
-</ul>
-</li>
-</ul>
-</div>
-<div class="sub-nav">
-<div id="navbar-sub-list">
-<ul class="sub-nav-list">
-<li>Summary:&nbsp;</li>
-<li>Nested&nbsp;|&nbsp;</li>
-<li>Field&nbsp;|&nbsp;</li>
-<li><a href="#constructor-summary">Constr</a>&nbsp;|&nbsp;</li>
-<li><a href="#method-summary">Method</a></li>
-</ul>
-<ul class="sub-nav-list">
-<li>Detail:&nbsp;</li>
-<li>Field&nbsp;|&nbsp;</li>
-<li><a href="#constructor-detail">Constr</a>&nbsp;|&nbsp;</li>
-<li><a href="#method-detail">Method</a></li>
-</ul>
-</div>
-<div class="nav-list-search"><a href="../../../../../../search.html">SEARCH</a>
-<input type="text" id="search-input" disabled placeholder="Search">
-<input type="reset" id="reset-button" disabled value="reset">
-</div>
-</div>
-<!-- ========= END OF TOP NAVBAR ========= -->
-<span class="skip-nav" id="skip-navbar-top"></span></nav>
-</header>
-<div class="flex-content">
-<main role="main">
-<!-- ======== START OF CLASS DATA ======== -->
-<div class="header">
-<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">org.firstinspires.ftc.teamcode.subsystems.chute</a></div>
-<h1 title="Class MockMotor" class="title">Class MockMotor</h1>
-</div>
-<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
-<div class="inheritance">org.firstinspires.ftc.teamcode.subsystems.chute.MockMotor</div>
-</div>
-<section class="class-description" id="class-description">
-<hr>
-<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">MockMotor</span>
-<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
-<div class="block">Simple mock motor.</div>
-</section>
-<section class="summary">
-<ul class="summary-list">
-<!-- ======== CONSTRUCTOR SUMMARY ======== -->
-<li>
-<section class="constructor-summary" id="constructor-summary">
-<h2>Constructor Summary</h2>
-<div class="caption"><span>Constructors</span></div>
-<div class="summary-table two-column-summary">
-<div class="table-header col-first">Constructor</div>
-<div class="table-header col-last">Description</div>
-<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">MockMotor</a>()</code></div>
-<div class="col-last even-row-color">&nbsp;</div>
-</div>
-</section>
-</li>
-<!-- ========== METHOD SUMMARY =========== -->
-<li>
-<section class="method-summary" id="method-summary">
-<h2>Method Summary</h2>
-<div id="method-summary-table">
-<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
-<div id="method-summary-table.tabpanel" role="tabpanel" aria-labelledby="method-summary-table-tab0">
-<div class="summary-table three-column-summary">
-<div class="table-header col-first">Modifier and Type</div>
-<div class="table-header col-second">Method</div>
-<div class="table-header col-last">Description</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPosition()" class="member-name-link">getPosition</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPower()" class="member-name-link">getPower</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double&nbsp;pos)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setPower(double)" class="member-name-link">setPower</a><wbr>(double&nbsp;power)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#update(double)" class="member-name-link">update</a><wbr>(double&nbsp;dt)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-</div>
-</div>
-</div>
-<div class="inherited-list">
-<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
-<code><a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
-</section>
-</li>
-</ul>
-</section>
-<section class="details">
-<ul class="details-list">
-<!-- ========= CONSTRUCTOR DETAIL ======== -->
-<li>
-<section class="constructor-details" id="constructor-detail">
-<h2>Constructor Details</h2>
-<ul class="member-list">
-<li>
-<section class="detail" id="&lt;init&gt;()">
-<h3>MockMotor</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">MockMotor</span>()</div>
-</section>
-</li>
-</ul>
-</section>
-</li>
-<!-- ============ METHOD DETAIL ========== -->
-<li>
-<section class="method-details" id="method-detail">
-<h2>Method Details</h2>
-<ul class="member-list">
-<li>
-<section class="detail" id="setPower(double)">
-<h3>setPower</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setPower</span><wbr><span class="parameters">(double&nbsp;power)</span></div>
-</section>
-</li>
-<li>
-<section class="detail" id="getPower()">
-<h3>getPower</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getPower</span>()</div>
-</section>
-</li>
-<li>
-<section class="detail" id="update(double)">
-<h3>update</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">update</span><wbr><span class="parameters">(double&nbsp;dt)</span></div>
-</section>
-</li>
-<li>
-<section class="detail" id="getPosition()">
-<h3>getPosition</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getPosition</span>()</div>
-</section>
-</li>
-<li>
-<section class="detail" id="setPosition(double)">
-<h3>setPosition</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setPosition</span><wbr><span class="parameters">(double&nbsp;pos)</span></div>
-</section>
-</li>
-</ul>
-</section>
-</li>
-</ul>
-</section>
-<!-- ========= END OF CLASS DATA ========= -->
-</main>
-</div>
-</div>
-</body>
-</html>

docs/org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html

@@ -1,216 +0,0 @@
-<!DOCTYPE HTML>
-<html lang="en">
-<head>
-<!-- Generated by javadoc (21) -->
-<title>MockPotentiometer (FtcRobotController API)</title>
-<meta name="viewport" content="width=device-width, initial-scale=1">
-<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
-<meta name="description" content="declaration: package: org.firstinspires.ftc.teamcode.subsystems.chute, class: MockPotentiometer">
-<meta name="generator" content="javadoc/ClassWriterImpl">
-<link rel="stylesheet" type="text/css" href="../../../../../../stylesheet.css" title="Style">
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-<script type="text/javascript" src="../../../../../../script-dir/jquery-ui.min.js"></script>
-</head>
-<body class="class-declaration-page">
-<script type="text/javascript">var pathtoroot = "../../../../../../";
-loadScripts(document, 'script');</script>
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-<div class="skip-nav"><a href="#skip-navbar-top" title="Skip navigation links">Skip navigation links</a></div>
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-<li><a href="../../../../../../help-doc.html#class">Help</a></li>
-</ul>
-<ul class="sub-nav-list-small">
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-<p>Summary:</p>
-<ul>
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-<li><a href="#constructor-summary">Constr</a></li>
-<li><a href="#method-summary">Method</a></li>
-</ul>
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-<p>Detail:</p>
-<ul>
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-<input type="text" id="search-input" disabled placeholder="Search">
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-<!-- ========= END OF TOP NAVBAR ========= -->
-<span class="skip-nav" id="skip-navbar-top"></span></nav>
-</header>
-<div class="flex-content">
-<main role="main">
-<!-- ======== START OF CLASS DATA ======== -->
-<div class="header">
-<div class="sub-title"><span class="package-label-in-type">Package</span>&nbsp;<a href="package-summary.html">org.firstinspires.ftc.teamcode.subsystems.chute</a></div>
-<h1 title="Class MockPotentiometer" class="title">Class MockPotentiometer</h1>
-</div>
-<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
-<div class="inheritance">org.firstinspires.ftc.teamcode.subsystems.chute.MockPotentiometer</div>
-</div>
-<section class="class-description" id="class-description">
-<hr>
-<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">MockPotentiometer</span>
-<span class="extends-implements">extends <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></span></div>
-<div class="block">Simple mock potentiometer with configurable wraparound.</div>
-</section>
-<section class="summary">
-<ul class="summary-list">
-<!-- ======== CONSTRUCTOR SUMMARY ======== -->
-<li>
-<section class="constructor-summary" id="constructor-summary">
-<h2>Constructor Summary</h2>
-<div class="caption"><span>Constructors</span></div>
-<div class="summary-table two-column-summary">
-<div class="table-header col-first">Constructor</div>
-<div class="table-header col-last">Description</div>
-<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E()" class="member-name-link">MockPotentiometer</a>()</code></div>
-<div class="col-last even-row-color">
-<div class="block">Create potentiometer with default 2pi wraparound.</div>
-</div>
-<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(double)" class="member-name-link">MockPotentiometer</a><wbr>(double&nbsp;wrapAmount)</code></div>
-<div class="col-last odd-row-color">
-<div class="block">Create potentiometer with custom wraparound amount.</div>
-</div>
-</div>
-</section>
-</li>
-<!-- ========== METHOD SUMMARY =========== -->
-<li>
-<section class="method-summary" id="method-summary">
-<h2>Method Summary</h2>
-<div id="method-summary-table">
-<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
-<div id="method-summary-table.tabpanel" role="tabpanel" aria-labelledby="method-summary-table-tab0">
-<div class="summary-table three-column-summary">
-<div class="table-header col-first">Modifier and Type</div>
-<div class="table-header col-second">Method</div>
-<div class="table-header col-last">Description</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getVoltage()" class="member-name-link">getVoltage</a>()</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>double</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getWrapAmount()" class="member-name-link">getWrapAmount</a>()</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#setPosition(double)" class="member-name-link">setPosition</a><wbr>(double&nbsp;pos)</code></div>
-<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
-<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#updatePosition(double)" class="member-name-link">updatePosition</a><wbr>(double&nbsp;delta)</code></div>
-<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">&nbsp;</div>
-</div>
-</div>
-</div>
-<div class="inherited-list">
-<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
-<code><a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/21/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
-</section>
-</li>
-</ul>
-</section>
-<section class="details">
-<ul class="details-list">
-<!-- ========= CONSTRUCTOR DETAIL ======== -->
-<li>
-<section class="constructor-details" id="constructor-detail">
-<h2>Constructor Details</h2>
-<ul class="member-list">
-<li>
-<section class="detail" id="&lt;init&gt;()">
-<h3>MockPotentiometer</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">MockPotentiometer</span>()</div>
-<div class="block">Create potentiometer with default 2pi wraparound.</div>
-</section>
-</li>
-<li>
-<section class="detail" id="&lt;init&gt;(double)">
-<h3>MockPotentiometer</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="element-name">MockPotentiometer</span><wbr><span class="parameters">(double&nbsp;wrapAmount)</span></div>
-<div class="block">Create potentiometer with custom wraparound amount.</div>
-<dl class="notes">
-<dt>Parameters:</dt>
-<dd><code>wrapAmount</code> - Voltage at which pot wraps back to 0</dd>
-</dl>
-</section>
-</li>
-</ul>
-</section>
-</li>
-<!-- ============ METHOD DETAIL ========== -->
-<li>
-<section class="method-details" id="method-detail">
-<h2>Method Details</h2>
-<ul class="member-list">
-<li>
-<section class="detail" id="getVoltage()">
-<h3>getVoltage</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getVoltage</span>()</div>
-</section>
-</li>
-<li>
-<section class="detail" id="setPosition(double)">
-<h3>setPosition</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">setPosition</span><wbr><span class="parameters">(double&nbsp;pos)</span></div>
-</section>
-</li>
-<li>
-<section class="detail" id="updatePosition(double)">
-<h3>updatePosition</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">void</span>&nbsp;<span class="element-name">updatePosition</span><wbr><span class="parameters">(double&nbsp;delta)</span></div>
-</section>
-</li>
-<li>
-<section class="detail" id="getWrapAmount()">
-<h3>getWrapAmount</h3>
-<div class="member-signature"><span class="modifiers">public</span>&nbsp;<span class="return-type">double</span>&nbsp;<span class="element-name">getWrapAmount</span>()</div>
-</section>
-</li>
-</ul>
-</section>
-</li>
-</ul>
-</section>
-<!-- ========= END OF CLASS DATA ========= -->
-</main>
-</div>
-</div>
-</body>
-</html>

docs/org/firstinspires/ftc/teamcode/subsystems/chute/package-summary.html

@@ -83,14 +83,6 @@ loadScripts(document, 'script');</script>
 <div class="col-last odd-row-color class-summary class-summary-tab2">
 <div class="block">Simple chute controller with homing and position control.</div>
 </div>
-<div class="col-first even-row-color class-summary class-summary-tab2"><a href="MockMotor.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></div>
-<div class="col-last even-row-color class-summary class-summary-tab2">
-<div class="block">Simple mock motor.</div>
-</div>
-<div class="col-first odd-row-color class-summary class-summary-tab2"><a href="MockPotentiometer.html" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></div>
-<div class="col-last odd-row-color class-summary class-summary-tab2">
-<div class="block">Simple mock potentiometer with configurable wraparound.</div>
-</div>
 </div>
 </div>
 </li>

docs/org/firstinspires/ftc/teamcode/subsystems/chute/package-tree.html

@@ -55,8 +55,6 @@ loadScripts(document, 'script');</script>
 <ul>
 <li class="circle">org.firstinspires.ftc.teamcode.subsystems.chute.<a href="Chute.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">Chute</a></li>
 <li class="circle">org.firstinspires.ftc.teamcode.subsystems.chute.<a href="ChuteController.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a></li>
-<li class="circle">org.firstinspires.ftc.teamcode.subsystems.chute.<a href="MockMotor.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></li>
-<li class="circle">org.firstinspires.ftc.teamcode.subsystems.chute.<a href="MockPotentiometer.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></li>
 </ul>
 </li>
 </ul>

docs/overview-tree.html

@@ -59,8 +59,6 @@ loadScripts(document, 'script');</script>
 <ul>
 <li class="circle">org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/Chute.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">Chute</a></li>
 <li class="circle">org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">ChuteController</a></li>
-<li class="circle">org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockMotor.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockMotor</a></li>
-<li class="circle">org.firstinspires.ftc.teamcode.subsystems.chute.<a href="org/firstinspires/ftc/teamcode/subsystems/chute/MockPotentiometer.html" class="type-name-link" title="class in org.firstinspires.ftc.teamcode.subsystems.chute">MockPotentiometer</a></li>
 </ul>
 </li>
 </ul>

docs/type-search-index.js

@@ -1 +1 @@
-typeSearchIndex = [{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","l":"Chute"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","l":"ChuteController"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","l":"MockMotor"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","l":"MockPotentiometer"}];updateSearchResults();
+typeSearchIndex = [{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","l":"Chute"},{"p":"org.firstinspires.ftc.teamcode.subsystems.chute","l":"ChuteController"}];updateSearchResults();

src/main/java/org/firstinspires/ftc/teamcode/hardware/FtcCRServo.java

@@ -0,0 +1,45 @@
+package org.firstinspires.ftc.teamcode.hardware;
+
+import com.qualcomm.robotcore.hardware.CRServo;
+
+/**
+ * Adapter that wraps a real FTC CRServo and makes it look like a MockCRServo.
+ * Drop-in replacement for FtcDCMotor when the chute is driven by a continuous
+ * rotation servo instead of a DC motor.
+ *
+ * <p>CRServo has no encoder, zero-power behavior, or run mode—just power
+ * control—so this adapter is simpler than {@link FtcDCMotor}.
+ *
+ * <h2>Usage</h2>
+ * <pre>
+ * CRServo servo = hardwareMap.get(CRServo.class, "chute_servo");
+ * FtcCRServo motor = new FtcCRServo(servo);
+ * ChuteController controller = new ChuteController(motor, pot, maxExtension);
+ * </pre>
+ *
+ * @see FtcDCMotor
+ */
+public class FtcCRServo extends MockCRServo {
+    private final CRServo servo;
+
+    /**
+     * Create servo adapter.
+     * @param servo The real FTC CRServo from hardwareMap
+     */
+    public FtcCRServo(CRServo servo) {
+        super();
+        this.servo = servo;
+    }
+
+    @Override
+    public void setPower(double power) {
+        super.setPower(power);  // Track power in parent
+        servo.setPower(power);  // Send to real servo
+    }
+
+    @Override
+    public void update(double dt) {
+        // Real servo updates itself — still call parent for mock position tracking
+        super.update(dt);
+    }
+}

src/main/java/org/firstinspires/ftc/teamcode/hardware/FtcDCMotor.java

@@ -1,19 +1,21 @@
-package org.firstinspires.ftc.teamcode.subsystems.chute;
+package org.firstinspires.ftc.teamcode.hardware;
 
 import com.qualcomm.robotcore.hardware.DcMotor;
 
 /**
- * Adapter that wraps a real FTC DcMotor and makes it look like a MockMotor.
+ * Adapter that wraps a real FTC DcMotor and makes it look like a MockDCMotor.
  * Use this to connect the chute controller to actual hardware.
+ *
+ * @see FtcCRServo
  */
-public class FtcMotor extends MockMotor {
+public class FtcDCMotor extends MockDCMotor {
     private final DcMotor motor;
     
     /**
      * Create motor adapter.
      * @param motor The real FTC motor from hardwareMap
      */
-    public FtcMotor(DcMotor motor) {
+    public FtcDCMotor(DcMotor motor) {
         super();
         this.motor = motor;
         

src/main/java/org/firstinspires/ftc/teamcode/hardware/FtcPotentiometer.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.subsystems.chute;
+package org.firstinspires.ftc.teamcode.hardware;
 
 import com.qualcomm.robotcore.hardware.AnalogInput;
 

src/main/java/org/firstinspires/ftc/teamcode/mock/MockCRServo.java

@@ -0,0 +1,37 @@
+package org.firstinspires.ftc.teamcode.mock;
+
+/**
+ * Mock continuous rotation servo for testing.
+ * Mirrors the override pattern of {@link FtcCRServo} without requiring the FTC SDK.
+ *
+ * <p>Extends MockMotor and overrides {@code setPower()} to track commanded values,
+ * letting tests verify that ChuteController correctly routes through a subclassed motor.
+ *
+ * @see FtcCRServo
+ * @see MockDCMotor
+ */
+public class MockCRServo extends MockMotor {
+    private double lastCommandedPower = 0.0;
+    private int setPowerCallCount = 0;
+
+    @Override
+    public void setPower(double power) {
+        lastCommandedPower = power;
+        setPowerCallCount++;
+        super.setPower(power);
+    }
+
+    /**
+     * @return The most recent power value passed to setPower
+     */
+    public double getLastCommandedPower() {
+        return lastCommandedPower;
+    }
+
+    /**
+     * @return Total number of times setPower has been called
+     */
+    public int getSetPowerCallCount() {
+        return setPowerCallCount;
+    }
+}

src/main/java/org/firstinspires/ftc/teamcode/mock/MockDCMotor.java

@@ -0,0 +1,12 @@
+package org.firstinspires.ftc.teamcode.mock;
+
+/**
+ * Mock DC motor for testing.
+ * Provides type identity for DC motor-specific code paths while
+ * inheriting all simulation behavior from {@link MockMotor}.
+ *
+ * @see FtcDCMotor
+ * @see MockCRServo
+ */
+public class MockDCMotor extends MockMotor {
+}

src/main/java/org/firstinspires/ftc/teamcode/mock/MockMotor.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.subsystems.chute;
+package org.firstinspires.ftc.teamcode.mock;
 
 /**
  * Simple mock motor.

src/main/java/org/firstinspires/ftc/teamcode/mock/MockPotentiometer.java

@@ -1,4 +1,4 @@
-package org.firstinspires.ftc.teamcode.subsystems.chute;
+package org.firstinspires.ftc.teamcode.mock;
 
 /**
  * Simple mock potentiometer with configurable wraparound.

src/main/java/org/firstinspires/ftc/teamcode/opmodes/ChuteOpMode.java

@@ -2,19 +2,23 @@ package org.firstinspires.ftc.teamcode.opmodes;
 
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.CRServo;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.AnalogInput;
 
 import org.firstinspires.ftc.teamcode.subsystems.chute.Chute;
-import org.firstinspires.ftc.teamcode.subsystems.chute.FtcMotor;
+import org.firstinspires.ftc.teamcode.hardware.FtcCRServo;
-import org.firstinspires.ftc.teamcode.subsystems.chute.FtcPotentiometer;
+import org.firstinspires.ftc.teamcode.hardware.FtcDCMotor;
+import org.firstinspires.ftc.teamcode.hardware.FtcPotentiometer;
 import org.firstinspires.ftc.teamcode.subsystems.chute.ChuteController;
+import org.firstinspires.ftc.teamcode.mock.MockMotor;
 
 /**
  * Example OpMode demonstrating chute control with real hardware.
+ * Supports either a DcMotor or CRServo as the actuator.
  * 
  * Hardware Config:
- * - Motor: "chute_motor" (DcMotor)
+ * - Motor: "chute_motor" (DcMotor) OR "chute_servo" (CRServo)
  * - Potentiometer: "chute_pot" (AnalogInput)
  */
 @TeleOp(name = "Chute Control")
@@ -22,6 +26,9 @@ public class ChuteOpMode extends LinearOpMode {
     
     private Chute chute;
     
+    // Set to true to use a CRServo instead of a DcMotor
+    private static final boolean USE_SERVO = false;
+    
     // Pot configuration - change this if your pot has different range
     private static final double POT_WRAP_AMOUNT = 2 * Math.PI;
     
@@ -35,14 +42,20 @@ public class ChuteOpMode extends LinearOpMode {
     @Override
     public void runOpMode() {
         // Get hardware from config
-        DcMotor chuteMotor = hardwareMap.get(DcMotor.class, "chute_motor");
         AnalogInput chutePot = hardwareMap.get(AnalogInput.class, "chute_pot");
-        
-        // Create hardware adapters
-        FtcMotor motor = new FtcMotor(chuteMotor);
         FtcPotentiometer pot = new FtcPotentiometer(chutePot, POT_WRAP_AMOUNT);
         
-        // Create chute controller with real hardware
+        // Create motor adapter — either DcMotor or CRServo
+        MockMotor motor;
+        if (USE_SERVO) {
+            FtcCRServo chuteServo = hardwareMap.get(CRServo.class, "chute_servo");
+            motor = new FtcCRServo(chuteServo);
+        } else {
+            FtcDCMotor chuteMotor = hardwareMap.get(DcMotor.class, "chute_motor");
+            motor = new FtcDCMotor(chuteMotor);
+        }
+        
+        // Create chute controller with whichever actuator was selected
         ChuteController controller = new ChuteController(motor, pot, MAX);
         chute = new Chute(controller, motor, pot);
         

src/main/java/org/firstinspires/ftc/teamcode/subsystems/chute/Chute.java

@@ -1,5 +1,9 @@
 package org.firstinspires.ftc.teamcode.subsystems.chute;
 
+import org.firstinspires.ftc.teamcode.mock.MockMotor;
+import org.firstinspires.ftc.teamcode.mock.MockDCMotor;
+import org.firstinspires.ftc.teamcode.mock.MockPotentiometer;
+
 /**
  * Main entry point for chute control system.
  * 
@@ -22,7 +26,14 @@ package org.firstinspires.ftc.teamcode.subsystems.chute;
  * 
  * <h2>Usage with Real Hardware</h2>
  * <pre>
- * FtcMotor motor = new FtcMotor(hardwareMap.get(DcMotor.class, "chute_motor"));
+ * // With a DcMotor:
+ * FtcDCMotor motor = new FtcDCMotor(hardwareMap.get(DcMotor.class, "chute_motor"));
+ * FtcPotentiometer pot = new FtcPotentiometer(hardwareMap.get(AnalogInput.class, "chute_pot"));
+ * ChuteController controller = new ChuteController(motor, pot, 4 * Math.PI);
+ * Chute chute = new Chute(controller, motor, pot);
+ *
+ * // With a CRServo (drop-in replacement):
+ * FtcCRServo motor = new FtcCRServo(hardwareMap.get(CRServo.class, "chute_servo"));
  * FtcPotentiometer pot = new FtcPotentiometer(hardwareMap.get(AnalogInput.class, "chute_pot"));
  * ChuteController controller = new ChuteController(motor, pot, 4 * Math.PI);
  * Chute chute = new Chute(controller, motor, pot);
@@ -38,6 +49,8 @@ package org.firstinspires.ftc.teamcode.subsystems.chute;
  * </ul>
  * 
  * @see ChuteController
+ * @see FtcDCMotor
+ * @see FtcCRServo
  * @see MockPotentiometer
  * @see FtcPotentiometer
  */
@@ -64,7 +77,7 @@ public class Chute {
      * @param wrapAmount Potentiometer wraparound amount in radians (e.g., pi, 2pi, 4pi)
      */
     public Chute(double maxExtension, double wrapAmount) {
-        this.motor = new MockMotor();
+        this.motor = new MockDCMotor();
         this.pot = new MockPotentiometer(wrapAmount);
         this.controller = new ChuteController(motor, pot, maxExtension);
     }
@@ -74,9 +87,10 @@ public class Chute {
      * Use this constructor in actual FTC OpModes with hardware from hardwareMap.
      * 
      * @param controller Pre-configured controller with real hardware
-     * @param motor FtcMotor adapter wrapping DcMotor
+     * @param motor Motor adapter (FtcDCMotor or FtcCRServo)
      * @param pot FtcPotentiometer adapter wrapping AnalogInput
-     * @see FtcMotor
+     * @see FtcDCMotor
+     * @see FtcCRServo
      * @see FtcPotentiometer
      */
     public Chute(ChuteController controller, MockMotor motor, MockPotentiometer pot) {

src/main/java/org/firstinspires/ftc/teamcode/subsystems/chute/ChuteController.java

@@ -1,5 +1,8 @@
 package org.firstinspires.ftc.teamcode.subsystems.chute;
 
+import org.firstinspires.ftc.teamcode.mock.MockMotor;
+import org.firstinspires.ftc.teamcode.mock.MockPotentiometer;
+
 /**
  * Simple chute controller with homing and position control.
  */

src/test/java/org/firstinspires/ftc/teamcode/subsystems/chute/ChuteTest.java

@@ -1,5 +1,7 @@
 package org.firstinspires.ftc.teamcode.subsystems.chute;
 
+import org.firstinspires.ftc.teamcode.mock.MockCRServo;
+import org.firstinspires.ftc.teamcode.mock.MockPotentiometer;
 import org.junit.jupiter.api.Test;
 import static org.junit.jupiter.api.Assertions.*;
 
@@ -268,4 +270,138 @@ public class ChuteTest {
         assertEquals(3.0, chute.getPot().getWrapAmount(), EPSILON, 
             "Pot should wrap at 3.0 radians");
     }
+
+    // ========================================================================
+    // CRServo adapter tests
+    //
+    // FtcCRServo extends MockDCMotor and overrides setPower() to forward to real
+    // hardware.  MockCRServo replicates that pattern without the FTC SDK,
+    // proving the full pipeline works when the motor is a subclass.
+    // ========================================================================
+
+    /**
+     * Verify a subclassed motor homes correctly through ChuteController.
+     * This is the same scenario as testHoming() but with the override path.
+     */
+    @Test
+    public void testCRServoHoming() {
+        MockCRServo servo = new MockCRServo();
+        MockPotentiometer pot = new MockPotentiometer();
+        ChuteController controller = new ChuteController(servo, pot, 10.0);
+        Chute chute = new Chute(controller, servo, pot);
+
+        servo.setPosition(0.5);
+        pot.setPosition(0.5);
+
+        chute.home();
+        assertTrue(servo.getSetPowerCallCount() > 0, "setPower should be called via override");
+
+        for (int i = 0; i < 200; i++) {
+            chute.update(DT);
+            if (chute.isHomed()) break;
+        }
+
+        assertTrue(chute.isHomed(), "Should home with subclassed motor");
+        assertEquals(0.0, servo.getPower(), EPSILON, "Motor should be stopped after homing");
+        assertEquals(0.0, servo.getLastCommandedPower(), EPSILON,
+                "Override path should also see zero power");
+    }
+
+    /**
+     * Verify move-to-position works end-to-end through the override path.
+     */
+    @Test
+    public void testCRServoMoveToPosition() {
+        MockCRServo servo = new MockCRServo();
+        MockPotentiometer pot = new MockPotentiometer();
+        ChuteController controller = new ChuteController(servo, pot, 10.0);
+        Chute chute = new Chute(controller, servo, pot);
+
+        servo.setPosition(0.2);
+        pot.setPosition(0.2);
+        chute.home();
+        for (int i = 0; i < 200; i++) {
+            chute.update(DT);
+            if (chute.isHomed()) break;
+        }
+        assertTrue(chute.isHomed(), "Should be homed");
+
+        int callsBefore = servo.getSetPowerCallCount();
+
+        chute.setTargetPosition(2.0);
+        for (int i = 0; i < 1000; i++) {
+            chute.update(DT);
+            if (chute.isAtTarget()) break;
+        }
+
+        assertTrue(chute.isAtTarget(), "Should reach target with subclassed motor");
+        assertTrue(Math.abs(chute.getPosition() - 2.0) < 0.3,
+                "Position should be close to 2.0, got: " + chute.getPosition());
+        assertTrue(servo.getSetPowerCallCount() > callsBefore,
+                "setPower override should have been called during movement");
+    }
+
+    /**
+     * Verify multi-wrap tracking works through the override path.
+     * CRServos are common on linear actuators that travel multiple pot rotations.
+     */
+    @Test
+    public void testCRServoMultipleRotations() {
+        MockCRServo servo = new MockCRServo();
+        MockPotentiometer pot = new MockPotentiometer();
+        ChuteController controller = new ChuteController(servo, pot, 25.0);
+        Chute chute = new Chute(controller, servo, pot);
+
+        servo.setPosition(0.2);
+        pot.setPosition(0.2);
+        chute.home();
+        for (int i = 0; i < 200; i++) {
+            chute.update(DT);
+            if (chute.isHomed()) break;
+        }
+        assertTrue(chute.isHomed(), "Should be homed");
+
+        double target = 3.5 * 2 * Math.PI;
+        chute.setTargetPosition(target);
+        for (int i = 0; i < 2000; i++) {
+            chute.update(DT);
+            if (chute.isAtTarget()) break;
+        }
+
+        assertTrue(chute.getPosition() > 3.0 * 2 * Math.PI,
+                "Position should be > 3*2pi, got: " + chute.getPosition());
+        assertTrue(Math.abs(chute.getPosition() - target) < 1.5,
+                "Position should be near target, expected: " + target + ", got: " + chute.getPosition());
+    }
+
+    /**
+     * Verify emergency stop propagates through the override path.
+     */
+    @Test
+    public void testCRServoStop() {
+        MockCRServo servo = new MockCRServo();
+        MockPotentiometer pot = new MockPotentiometer();
+        ChuteController controller = new ChuteController(servo, pot, 10.0);
+        Chute chute = new Chute(controller, servo, pot);
+
+        servo.setPosition(0.1);
+        pot.setPosition(0.1);
+        chute.home();
+        for (int i = 0; i < 200; i++) {
+            chute.update(DT);
+            if (chute.isHomed()) break;
+        }
+
+        chute.setTargetPosition(5.0);
+        for (int i = 0; i < 10; i++) {
+            chute.update(DT);
+        }
+        assertTrue(chute.isMoving(), "Should be moving");
+
+        chute.stop();
+
+        assertFalse(chute.isMoving(), "Should stop immediately");
+        assertEquals(0.0, servo.getLastCommandedPower(), EPSILON,
+                "Override path should see zero power after stop");
+    }
 }