From: WesleyWong-972 <wesleycwong@gmail.com>
Date: Wed, 8 Apr 2026 21:17:00 +0000 (-0700)
Subject: ATTEMPT ONE
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=192378634f96122ad72e707864ad3f2302032499;p=FRC2026.git

ATTEMPT ONE
---

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index 029bae1..57bb09a 100644
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -162,7 +162,7 @@ public class Superstructure extends Command {
         double adjustedTurretSetpoint = MathUtil.angleModulus(turretAngle.getRadians() - drivepose.getRotation().getRadians());
 
         // Shortest path
-        double error = MathUtil.inputModulus(Units.radiansToDegrees(adjustedTurretSetpoint) - Units.radiansToDegrees(turret.getPositionRad()), -180, 180);
+        double error = MathUtil.inputModulus(Units.radiansToDegrees(adjustedTurretSetpoint) - Units.radiansToDegrees(turret.getPositionRad()), TurretConstants.MIN_ANGLE, TurretConstants.MAX_ANGLE);
         double potentialSetpoint = Units.radiansToDegrees(turret.getPositionRad()) + error + turretOffset;
 
         // Stay within +/- 200 -- if  shortest path is past 200, we go long way around