Add moar code.

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 8f549255a8a3c41c3863a2140f6971b852d4c719..da48bb288c5ab268072b4275799a0f237ff16767 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -158,6 +158,9 @@ public class Turret extends SubsystemBase implements TurretIO{
         * TurretConstants.RIGHT_ENCODER_TEETH;
 
                double turretRotations = turretIndex / (double) 140.0;
+               if(Units.rotationsToDegrees(turretRotations) > 500.0){
+                       turretRotations -= Units.degreesToRotations(846.0);
+               }
                SmartDashboard.putNumber("CRT thing out", Units.rotationsToDegrees(turretRotations));
 
                double motorRotations = turretRotations * TurretConstants.TURRET_GEAR_RATIO;