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diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 0b6f00d4459bb189cb502185e5a415f6962e42e0..55784e683bc0853680a4907b737ea4c1cd18194f 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -43,8 +43,6 @@ public class Turret extends SubsystemBase implements TurretIO{
        /* ---------------- Hardware ---------------- */
 
        private final TalonFX motor = new TalonFX(IdConstants.TURRET_MOTOR_ID, Constants.CANIVORE_SUB);
-       private final CANcoder encoderLeft = new CANcoder(IdConstants.TURRET_ENCODER_LEFT_ID, Constants.CANIVORE_SUB);
-    private final CANcoder encoderRight = new CANcoder(IdConstants.TURRET_ENCODER_RIGHT_ID, Constants.CANIVORE_SUB);
 
        private TalonFXSimState simState;
        private SingleJointedArmSim turretSim;
@@ -210,9 +208,9 @@ public class Turret extends SubsystemBase implements TurretIO{
                        }
                } else{
                        // Sets motor control with feedforward
-                       motor.setControl(mmVoltageRequest
-                       .withPosition(motorGoalRotations)
-                       .withFeedForward(robotTurnCompensation));
+                       // motor.setControl(mmVoltageRequest
+                       // .withPosition(motorGoalRotations)
+                       // .withFeedForward(robotTurnCompensation));
                }
 
         Logger.recordOutput("Turret/Voltage", motor.getMotorVoltage().getValue());
@@ -225,9 +223,6 @@ public class Turret extends SubsystemBase implements TurretIO{
                Logger.processInputs("Turret", inputs);
 
                SmartDashboard.putNumber("Turret position", Units.radiansToDegrees(getPositionRad()));
-               SmartDashboard.putNumber("Encoder left position", encoderLeft.getAbsolutePosition().getValueAsDouble());
-               SmartDashboard.putNumber("Encoder right position", encoderRight.getAbsolutePosition().getValueAsDouble());
-
                SmartDashboard.putBoolean("Turret Calibrated", !calibrating);
                SmartDashboard.putBoolean("Turret At Setpoint", atSetpoint());
        }
@@ -251,8 +246,6 @@ public class Turret extends SubsystemBase implements TurretIO{
                inputs.positionDeg = Units.rotationsToDegrees(motor.getPosition().getValueAsDouble()) / TurretConstants.GEAR_RATIO;
                inputs.velocityRadPerSec = Units.rotationsToRadians(motor.getVelocity().getValueAsDouble()) / TurretConstants.GEAR_RATIO;
                inputs.motorCurrent = motor.getStatorCurrent().getValueAsDouble();
-        inputs.encoderLeftRot = wrapUnit(encoderLeft.getAbsolutePosition().getValueAsDouble());
-        inputs.encoderRightRot = wrapUnit(encoderRight.getAbsolutePosition().getValueAsDouble());
                inputs.motorVoltage = motor.getMotorVoltage().getValueAsDouble();
                inputs.positionDeg = crt.solve(inputs.encoderLeftRot, inputs.encoderRightRot);
        }