From: mixxlto Date: Fri, 13 Feb 2026 03:43:53 +0000 (-0800) Subject: Update Turret.java X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=47b3c0079e76989ecbc2fbac7ac2d343747e55a0;p=FRC2026.git 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 fc6b653..5ac76d4 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -138,10 +138,10 @@ public class Turret extends SubsystemBase implements TurretIO{ EasyCRTConfig crt_cfg = new EasyCRTConfig(() -> Rotations.of(encoderLeft.getAbsolutePosition().getValueAsDouble()), () -> Rotations.of(encoderRight.getAbsolutePosition().getValueAsDouble())) //.withEncoderRatios(TurretConstants.LEFT_ENCODER_RATIO, TurretConstants.RIGHT_ENCODER_RATIO) - .withCommonDriveGear(1.0, 140, 15, 22) + .withCommonDriveGear(1.0, 140, 15, 22) // 1:1 from 140t to 15t (left) to 22t (right) .withAbsoluteEncoderOffsets(Degrees.of(TurretConstants.LEFT_ENCODER_OFFSET), Degrees.of(TurretConstants.RIGHT_ENCODER_OFFSET)) .withMechanismRange(Degrees.of(TurretConstants.MIN_ANGLE), Degrees.of(TurretConstants.MAX_ANGLE)) - .withMatchTolerance(Degrees.of(3)) // Tune this + .withMatchTolerance(Degrees.of(3)) // Tolerance of 3 degrees .withAbsoluteEncoderInversions(false, false); // shared drive gear / pinion (the tan gear/tiny first gear on motor shaft) // turret ring / shared drive pulley (big turret gear / first black belt gear weird thingy?)