From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Mon, 16 Feb 2026 20:20:47 +0000 (-0800)
Subject: done
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=3dfddd1c5ac2da7e036faa53a91cf1485af01cc4;p=FRC2026.git

done
---

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 504a06f..11320ee 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -16,11 +16,8 @@ import au.grapplerobotics.interfaces.LaserCanInterface.Measurement;
 import au.grapplerobotics.interfaces.LaserCanInterface.RangingMode;
 import au.grapplerobotics.interfaces.LaserCanInterface.RegionOfInterest;
 import au.grapplerobotics.interfaces.LaserCanInterface.TimingBudget;
-<<<<<<< HEAD
 import edu.wpi.first.math.filter.Debouncer;
 import edu.wpi.first.math.filter.Debouncer.DebounceType;
-=======
->>>>>>> parent of ae21e1f7 (Merge branch 'arnavs-mega-velocityvoltage-turret' into beta-bot)
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index c7e1ad6..5c23034 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -223,17 +223,6 @@ public class Turret extends SubsystemBase implements TurretIO{
 
 		// Tells the Kraken to get to this position using 1000Hz profile
 		double motorGoalRotations = Units.radiansToRotations(best) * GEAR_RATIO;
-		// if (isInDeadband) {
-		// 	if (absError > START_THRESHOLD_RAD) {
-		// 		isInDeadband = false;
-		// 		lastGoalRad = best;
-		// 	}
-		// } else {
-		// 	lastGoalRad = best;
-		// 	if (absError < STOP_THRESHOLD_RAD) {
-		// 		isInDeadband = true;
-		// 	}
-		// }
 
 		motorGoalRotations = MathUtil.clamp(motorGoalRotations, Units.degreesToRotations(-180) * GEAR_RATIO, Units.degreesToRotations(180) * GEAR_RATIO);