should reduce overruns

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 99e068eab60e73fa01e871868d53be7dffd1308b..4b033f76b249d1d21eaeb6c29239f016a6547662 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -99,6 +99,8 @@ public class Turret extends SubsystemBase implements TurretIO{
                                        0.0);
                }
                SmartDashboard.putData("Turret Mech", mech);
+               SmartDashboard.putData("Start turret calibration", new InstantCommand(()-> calibrate()));
+               SmartDashboard.putData("Stop turret calibration", new InstantCommand(()-> stopCalibrating()));
 
                double leftPosition = encoderLeft.getAbsolutePosition().getValueAsDouble();
                double leftAbs = wrapUnit(leftPosition - TurretConstants.LEFT_ENCODER_OFFSET);
@@ -237,9 +239,6 @@ public class Turret extends SubsystemBase implements TurretIO{
                SmartDashboard.putNumber("Turret position", Units.radiansToDegrees(getPositionRad()));
                SmartDashboard.putNumber("Encoder left position", encoderLeft.getAbsolutePosition().getValueAsDouble());
                SmartDashboard.putNumber("Encoder right position", encoderRight.getAbsolutePosition().getValueAsDouble());
-
-               SmartDashboard.putData("Start turret calibration", new InstantCommand(()-> calibrate()));
-               SmartDashboard.putData("Stop turret calibration", new InstantCommand(()-> stopCalibrating()));
        }
 
        /* ---------------- Simulation ---------------- */