unit conversion

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 505ea80f912abc02c634f43781fceea4432b4cbf..6a360e416b8f0065eab73b0e5de4736a2e7ba9d3 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -193,13 +193,13 @@ public class Turret extends SubsystemBase implements TurretIO{
 
                // calculate shortest angular delta
                double delta = best - lastRawSetpoint;
-               delta = MathUtil.inputModulus(delta, TurretConstants.MIN_ANGLE, TurretConstants.MAX_ANGLE);
+               delta = MathUtil.inputModulus(delta, Units.degreesToRadians(TurretConstants.MIN_ANGLE), Units.degreesToRadians(TurretConstants.MAX_ANGLE));
                
                // filter delta
                double filteredDelta = setpointFilter.calculate(delta);
                
                // apply filtered range
-               lastFilteredRad = MathUtil.inputModulus(lastFilteredRad + filteredDelta, TurretConstants.MIN_ANGLE, TurretConstants.MAX_ANGLE);
+               lastFilteredRad = MathUtil.inputModulus(lastFilteredRad + filteredDelta, Units.degreesToRadians(TurretConstants.MIN_ANGLE), Units.degreesToRadians(TurretConstants.MAX_ANGLE));
                lastRawSetpoint = best;
                best = lastFilteredRad;