Update Turret.java

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index c1c043c750eaeea5b623fef99d17ec230d149e8c..72421d9d1be7695936f6caf302757e29871c4ff9 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -87,7 +87,7 @@ public class Turret extends SubsystemBase {
         
         MotionMagicConfigs motionMagicConfigs = config.MotionMagic;
         motionMagicConfigs.MotionMagicCruiseVelocity = Units.radiansToRotations(TurretConstants.MAX_VELOCITY / TurretConstants.TURRET_RADIUS) * gearRatio; // max velocity * gear ratio
-        motionMagicConfigs.MotionMagicCruiseVelocity = Units.radiansToRotations(TurretConstants.MAX_ACCELERATION / TurretConstants.TURRET_RADIUS) * gearRatio; // max Acceleration * gear ratio
+        motionMagicConfigs.MotionMagicCruiseAcceleration = Units.radiansToRotations(TurretConstants.MAX_ACCELERATION / TurretConstants.TURRET_RADIUS) * gearRatio; // max Acceleration * gear ratio
 
         config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
         motor.getConfigurator().apply(config);