Pot range is now dynamic

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

@@ -22,6 +22,9 @@ public class ChuteOpMode extends LinearOpMode {
     
     private Chute chute;
     
+    // Pot configuration - change this if your pot has different range
+    private static final double POT_WRAP_AMOUNT = 2 * Math.PI;
+    
     // Position presets (in radians)
     private static final double HOME = 0.0;
     private static final double LOW = Math.PI;
@@ -37,13 +40,14 @@ public class ChuteOpMode extends LinearOpMode {
         
         // Create hardware adapters
         FtcMotor motor = new FtcMotor(chuteMotor);
-        FtcPotentiometer pot = new FtcPotentiometer(chutePot);
+        FtcPotentiometer pot = new FtcPotentiometer(chutePot, POT_WRAP_AMOUNT);
         
         // Create chute controller with real hardware
         ChuteController controller = new ChuteController(motor, pot, MAX);
         chute = new Chute(controller, motor, pot);
         
         telemetry.addLine("Chute initialized");
+        telemetry.addData("Pot wrap", "%.2f rad", POT_WRAP_AMOUNT);
         telemetry.addLine("Press A to home");
         telemetry.update();
         

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

@@ -9,11 +9,21 @@ public class Chute {
     private final MockPotentiometer pot;
     
     /**
-     * Create chute with mock hardware (for testing).
+     * Create chute with mock hardware (for testing) - default 2pi wraparound.
+     * @param maxExtension Maximum extension in radians
      */
     public Chute(double maxExtension) {
+        this(maxExtension, 2 * Math.PI);
+    }
+    
+    /**
+     * Create chute with mock hardware (for testing) - custom wraparound.
+     * @param maxExtension Maximum extension in radians
+     * @param wrapAmount Potentiometer wrap amount in radians
+     */
+    public Chute(double maxExtension, double wrapAmount) {
         this.motor = new MockMotor();
-        this.pot = new MockPotentiometer();
+        this.pot = new MockPotentiometer(wrapAmount);
         this.controller = new ChuteController(motor, pot, maxExtension);
     }
     

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

@@ -7,6 +7,7 @@ public class ChuteController {
     private final MockMotor motor;
     private final MockPotentiometer pot;
     private final double maxExtension;
+    private final double wrapAmount;
     
     private boolean homed = false;
     private boolean homing = false;
@@ -32,6 +33,7 @@ public class ChuteController {
         this.motor = motor;
         this.pot = pot;
         this.maxExtension = maxExtension;
+        this.wrapAmount = pot.getWrapAmount();
     }
     
     /**
@@ -129,13 +131,14 @@ public class ChuteController {
         double delta = voltage - lastVoltage;
         
         // Detect wraps and accumulate to unwrapped voltage
-        if (Math.abs(delta) > Math.PI) {
+        // Threshold is half the wrap amount
+        if (Math.abs(delta) > wrapAmount / 2) {
             if (delta < 0) {
-                // Forward wrap: voltage dropped, add back 2pi
+                // Forward wrap: voltage dropped, add back wrap amount
-                unwrappedVoltage += (delta + 2 * Math.PI);
+                unwrappedVoltage += (delta + wrapAmount);
             } else {
-                // Backward wrap: voltage jumped, subtract 2pi
+                // Backward wrap: voltage jumped, subtract wrap amount
-                unwrappedVoltage += (delta - 2 * Math.PI);
+                unwrappedVoltage += (delta - wrapAmount);
             }
         } else {
             // Normal movement
@@ -185,12 +188,20 @@ public class ChuteController {
     
     /**
      * Get the home voltage reference captured during homing.
-     * @return Home voltage in range [0, 2pi]
+     * @return Home voltage in range [0, wrapAmount]
      */
     public double getHomeVoltage() {
         return homeVoltage;
     }
     
+    /**
+     * Get the pot wraparound amount.
+     * @return Wrap amount in radians
+     */
+    public double getWrapAmount() {
+        return wrapAmount;
+    }
+    
     /**
      * Emergency stop - immediately stops motor and cancels movement.
      */

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

@@ -11,11 +11,20 @@ public class FtcPotentiometer extends MockPotentiometer {
     private final double maxVoltage;
     
     /**
-     * Create potentiometer adapter.
+     * Create potentiometer adapter with default 2pi wraparound.
      * @param pot The real FTC analog input from hardwareMap
      */
     public FtcPotentiometer(AnalogInput pot) {
-        super();
+        this(pot, 2 * Math.PI);
+    }
+    
+    /**
+     * Create potentiometer adapter with custom wraparound.
+     * @param pot The real FTC analog input from hardwareMap
+     * @param wrapAmount Voltage value at which pot wraps (in radians)
+     */
+    public FtcPotentiometer(AnalogInput pot, double wrapAmount) {
+        super(wrapAmount);
         this.pot = pot;
         this.maxVoltage = pot.getMaxVoltage(); // Usually 3.3V
     }
@@ -25,9 +34,9 @@ public class FtcPotentiometer extends MockPotentiometer {
         // Read actual voltage from hardware
         double rawVoltage = pot.getVoltage();
         
-        // Scale to [0, 2pi] range
+        // Scale to [0, wrapAmount] range
         // Assumes pot uses full voltage range (0 to maxVoltage)
-        return (rawVoltage / maxVoltage) * 2 * Math.PI;
+        return (rawVoltage / maxVoltage) * getWrapAmount();
     }
     
     @Override

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

@@ -1,19 +1,32 @@
 package org.firstinspires.ftc.teamcode.subsystems.chute;
 
 /**
- * Simple mock potentiometer with wraparound at 2pi.
+ * Simple mock potentiometer with configurable wraparound.
  */
 public class MockPotentiometer {
     private double position;
+    private final double wrapAmount;
     
+    /**
+     * Create potentiometer with default 2pi wraparound.
+     */
     public MockPotentiometer() {
+        this(2 * Math.PI);
+    }
+    
+    /**
+     * Create potentiometer with custom wraparound amount.
+     * @param wrapAmount Voltage at which pot wraps back to 0
+     */
+    public MockPotentiometer(double wrapAmount) {
         this.position = 0.0;
+        this.wrapAmount = wrapAmount;
     }
     
     public double getVoltage() {
-        // Wrap to [0, 2pi]
+        // Wrap to [0, wrapAmount]
-        double wrapped = position % (2 * Math.PI);
+        double wrapped = position % wrapAmount;
-        if (wrapped < 0) wrapped += 2 * Math.PI;
+        if (wrapped < 0) wrapped += wrapAmount;
         return wrapped;
     }
     
@@ -24,4 +37,8 @@ public class MockPotentiometer {
     public void updatePosition(double delta) {
         this.position += delta;
     }
+    
+    public double getWrapAmount() {
+        return wrapAmount;
+    }
 }

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

@@ -105,6 +105,8 @@ public class ChuteTest {
         chute.getMotor().setPosition(0.2);
         chute.getPot().setPosition(0.2);
         chute.home();
+
+        // Wait for homing to complete (200 iterations x 0.02s = 4 second timeout)
         for (int i = 0; i < 200; i++) {
             chute.update(DT);
             if (chute.isHomed()) break;
@@ -226,4 +228,44 @@ public class ChuteTest {
         assertTrue(downPos < 1.5, "Should move back down");
         assertTrue(downPos < upPos, "Down position should be less than up");
     }
+
+    /**
+     * Test custom wraparound amount (3.0 radians instead of 2pi).
+     * Verifies controller correctly handles non-standard pot configurations.
+     */
+    @Test
+    public void testCustomWrapAmount() {
+        // Create chute with 3.0 radian wraparound (instead of default 2pi)
+        Chute chute = new Chute(20.0, 3.0);
+        
+        // Home
+        chute.getMotor().setPosition(0.2);
+        chute.getPot().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");
+        
+        // Move to 2.5 wraps (2.5 * 3.0 = 7.5 radians)
+        double target = 2.5 * 3.0;
+        chute.setTargetPosition(target);
+        
+        for (int i = 0; i < 2000; i++) {
+            chute.update(DT);
+            if (chute.isAtTarget()) break;
+        }
+        
+        // Should track through wraps correctly
+        assertTrue(chute.getPosition() > 2.0 * 3.0, 
+            "Position should be > 2 wraps (6.0), got: " + chute.getPosition());
+        assertTrue(Math.abs(chute.getPosition() - target) < 1.0,
+            "Position should be near target, expected: " + target + ", got: " + chute.getPosition());
+        
+        // Verify pot actually wraps at 3.0
+        assertEquals(3.0, chute.getPot().getWrapAmount(), EPSILON, 
+            "Pot should wrap at 3.0 radians");
+    }
 }