never stops calibrating

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index 7721f50d94a550f57a54686eb0d9b3584319cc94..25f839bef2e55b2295833b918bca44184175c7d6 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -186,9 +186,9 @@ public class Intake extends SubsystemBase implements IntakeIO{
             leftMotor.set(-0.1);
             rightMotor.set(-0.1);
             boolean atHardStop = Math.abs((leftMotor.getStatorCurrent().getValueAsDouble() + rightMotor.getStatorCurrent().getValueAsDouble()) / 2) >= IntakeConstants.CALIBRATING_CURRENT_THRESHOLD;
-            // if(calibrationDebouncer.calculate(atHardStop)){
-            //     stopCalibrating();
-            // }
+            if(calibrationDebouncer.calculate(atHardStop)){
+                stopCalibrating();
+            }
         }
 
         updateInputs();

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 2c0e346d38feb76b82e5dc595b27c81e295571c4..49ac5cff9df86a5c21e5817dfd450c98447195e4 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -121,10 +121,6 @@ public class Turret extends SubsystemBase implements TurretIO{
                inputs.positionDeg = turretRot;
                motor.setPosition(motorRotations);
 
-               //motor.setPosition(Units.degreesToRotations(238.86) * TurretConstants.GEAR_RATIO);
-
-               motor.setPosition(0.0);
-
                SmartDashboard.putData("Turn to 0", new InstantCommand(()->{setFieldRelativeTarget(Rotation2d.fromDegrees(0), 0.0);}));
                SmartDashboard.putData("Turn to -90", new InstantCommand(()->{setFieldRelativeTarget(Rotation2d.fromDegrees(-90), 0.0);}));
                SmartDashboard.putData("Turn to 90", new InstantCommand(()->{setFieldRelativeTarget(Rotation2d.fromDegrees(90), 0.0);}));