Program: 39006
Project: 39006
Buggy source:
@Override public void runOpMode() throws InterruptedException {
  configuration=new OpModeConfiguration(hardwareMap.appContext);
  BalancingStone balancingStone=configuration.getBalancingStone();
  Pose2d initialPose=balancingStone.getPose();
  drive=new MecanumDrive(hardwareMap);
  drive.setEstimatedPose(initialPose);
  jewelSlapper=new JewelSlapper(hardwareMap);
  dumpBed=new DumpBed(hardwareMap,telemetry);
  camera=new VuforiaCamera();
  jewelTracker=new FixedJewelTracker();
  vuMarkTracker=new VuforiaVuMarkTracker();
  camera.addTracker(jewelTracker);
  camera.addTracker(vuMarkTracker);
  camera.addTracker(new FpsTracker());
  camera.initialize();
  AllianceColor allianceColor=configuration.getAllianceColor();
  String autoTransition=configuration.getAutoTransition();
  if (!autoTransition.equals(OpModeConfiguration.NO_AUTO_TRANSITION)) {
    AutoTransitioner.transitionOnStop(this,autoTransition);
  }
  dumpBed.liftDown();
  while (!isStopRequested() && !isStarted()) {
    dumpBed.update();
  }
  waitForStart();
  while (opModeIsActive() && dumpBed.getMode() != DumpBed.Mode.NORMAL) {
    dumpBed.update();
  }
  jewelTracker.enable();
  vuMarkTracker.enable();
  jewelSlapper.deployArmAndSlapper();
  sleep(1500);
  double startTime=TimestampedData.getCurrentTime();
  RelicRecoveryVuMark vuMark=RelicRecoveryVuMark.UNKNOWN;
  while (opModeIsActive() && (TimestampedData.getCurrentTime() - startTime) < 8) {
    vuMark=vuMarkTracker.getVuMark();
    if (vuMark != RelicRecoveryVuMark.UNKNOWN) {
      break;
    }
  }
  vuMarkTracker.disable();
  AllianceColor leftJewelColor=jewelTracker.getLeftBlue() > jewelTracker.getRightBlue() ? AllianceColor.BLUE : AllianceColor.RED;
  if (leftJewelColor == allianceColor) {
    jewelSlapper.setSlapperPosition(JewelSlapper.Position.RIGHT);
  }
 else {
    jewelSlapper.setSlapperPosition(JewelSlapper.Position.LEFT);
  }
  sleep(1500);
  jewelSlapper.stowArmAndSlapper();
}

Fixed version (ground truth):
@Override public void runOpMode() throws InterruptedException {
  configuration=new OpModeConfiguration(hardwareMap.appContext);
  BalancingStone balancingStone=configuration.getBalancingStone();
  Pose2d initialPose=balancingStone.getPose();
  drive=new MecanumDrive(hardwareMap,telemetry);
  drive.enablePositionEstimation();
  drive.setEstimatedPose(initialPose);
  jewelSlapper=new JewelSlapper(hardwareMap);
  dumpBed=new DumpBed(hardwareMap,telemetry);
  camera=new VuforiaCamera();
  jewelTracker=new FixedJewelTracker();
  vuMarkTracker=new VuforiaVuMarkTracker();
  camera.addTracker(jewelTracker);
  camera.addTracker(vuMarkTracker);
  camera.addTracker(new FpsTracker());
  camera.initialize();
  AllianceColor allianceColor=configuration.getAllianceColor();
  String autoTransition=configuration.getAutoTransition();
  if (!autoTransition.equals(OpModeConfiguration.NO_AUTO_TRANSITION)) {
    AutoTransitioner.transitionOnStop(this,autoTransition);
  }
  dumpBed.liftDown();
  while (!isStopRequested() && !isStarted()) {
    dumpBed.update();
  }
  waitForStart();
  while (opModeIsActive() && dumpBed.getMode() != DumpBed.Mode.NORMAL) {
    dumpBed.update();
  }
  jewelTracker.enable();
  vuMarkTracker.enable();
  jewelSlapper.deployArmAndSlapper();
  sleep(1500);
  double startTime=TimestampedData.getCurrentTime();
  RelicRecoveryVuMark vuMark=RelicRecoveryVuMark.UNKNOWN;
  while (opModeIsActive() && (TimestampedData.getCurrentTime() - startTime) < 8) {
    vuMark=vuMarkTracker.getVuMark();
    if (vuMark != RelicRecoveryVuMark.UNKNOWN) {
      break;
    }
  }
  vuMarkTracker.disable();
  AllianceColor leftJewelColor=jewelTracker.getLeftBlue() > jewelTracker.getRightBlue() ? AllianceColor.BLUE : AllianceColor.RED;
  if (leftJewelColor == allianceColor) {
    jewelSlapper.setSlapperPosition(JewelSlapper.Position.RIGHT);
  }
 else {
    jewelSlapper.setSlapperPosition(JewelSlapper.Position.LEFT);
  }
  sleep(1500);
  jewelSlapper.stowArmAndSlapper();
}