a

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index da48bb288c5ab268072b4275799a0f237ff16767..013f91b7f680dd05a1094dd11fc4356bddbb9d66 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -164,7 +164,7 @@ public class Turret extends SubsystemBase implements TurretIO{
                SmartDashboard.putNumber("CRT thing out", Units.rotationsToDegrees(turretRotations));
 
                double motorRotations = turretRotations * TurretConstants.TURRET_GEAR_RATIO;
-               // motor.setPosition(motorRotations);
+               motor.setPosition(motorRotations);
 
                
                // Position extrapolation

diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index 86fe6fd805ad60973b8657a9b6ec5704494f410b..8710b6ba6b017172a500148d1f878c996fc4e540 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -14,7 +14,7 @@ public class TurretConstants {
     public static double TURRET_RADIUS = TURRET_WIDTH / 2;
 
     public static double TURRET_TEETH_COUNT = 140.0; // the turret teeth count
-    public static double TURRET_GEAR_RATIO = 38.81818182;
+    public static double TURRET_GEAR_RATIO = 30.545454;
     public static int LEFT_ENCODER_TEETH = 15; // gear teeth
     public static int RIGHT_ENCODER_TEETH = 22; // read above
     public static int ENCODER_COUNT_TOTAL = 8192; // how many intervals it can have, like clicks on a clock chat gpt explained to me