commit farming

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 55784e683bc0853680a4907b737ea4c1cd18194f..e9b2e6fd1e5023b9e4aa48e71661578a396c9715 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -201,7 +201,7 @@ public class Turret extends SubsystemBase implements TurretIO{
                double robotTurnCompensation = goalVelocityRadPerSec * TurretConstants.FEEDFORWARD_KV;
 
                if(calibrating){
-                       motor.set(0.05);
+                       // motor.set(0.05);
                        boolean calibrated = Math.abs(motor.getStatorCurrent().getValueAsDouble()) >= TurretConstants.CALIBRATION_CURRENT_THRESHOLD;
                        if(calibrationDebouncer.calculate(calibrated)){
                                stopCalibrating();
@@ -247,7 +247,7 @@ public class Turret extends SubsystemBase implements TurretIO{
                inputs.velocityRadPerSec = Units.rotationsToRadians(motor.getVelocity().getValueAsDouble()) / TurretConstants.GEAR_RATIO;
                inputs.motorCurrent = motor.getStatorCurrent().getValueAsDouble();
                inputs.motorVoltage = motor.getMotorVoltage().getValueAsDouble();
-               inputs.positionDeg = crt.solve(inputs.encoderLeftRot, inputs.encoderRightRot);
+               inputs.positionDeg = motor.getPosition().getValueAsDouble();
        }
 
        /**