done

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 504a06fd5fa758c579c0ef744d20224e3685da7f..11320ee75867ca4260982bd407b511d34ec1cc05 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -16,11 +16,8 @@ import au.grapplerobotics.interfaces.LaserCanInterface.Measurement;
 import au.grapplerobotics.interfaces.LaserCanInterface.RangingMode;
 import au.grapplerobotics.interfaces.LaserCanInterface.RegionOfInterest;
 import au.grapplerobotics.interfaces.LaserCanInterface.TimingBudget;
-<<<<<<< HEAD
 import edu.wpi.first.math.filter.Debouncer;
 import edu.wpi.first.math.filter.Debouncer.DebounceType;
-=======
->>>>>>> parent of ae21e1f7 (Merge branch 'arnavs-mega-velocityvoltage-turret' into beta-bot)
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index c7e1ad6ca4bf1982e25371c24d35d642c8754ea7..5c23034fb8b909cb4b95975dc3f5283882e67c28 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -223,17 +223,6 @@ public class Turret extends SubsystemBase implements TurretIO{
 
                // Tells the Kraken to get to this position using 1000Hz profile
                double motorGoalRotations = Units.radiansToRotations(best) * GEAR_RATIO;
-               // if (isInDeadband) {
-               //      if (absError > START_THRESHOLD_RAD) {
-               //              isInDeadband = false;
-               //              lastGoalRad = best;
-               //      }
-               // } else {
-               //      lastGoalRad = best;
-               //      if (absError < STOP_THRESHOLD_RAD) {
-               //              isInDeadband = true;
-               //      }
-               // }
 
                motorGoalRotations = MathUtil.clamp(motorGoalRotations, Units.degreesToRotations(-180) * GEAR_RATIO, Units.degreesToRotations(180) * GEAR_RATIO);