From: mixxlto <maxtan0626@gmail.com>
Date: Thu, 12 Feb 2026 22:47:29 +0000 (-0800)
Subject: ready to test!!! hoorrayy
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=57a43eb5f8051d68f1f810bf5dd23fafeced3f6b;p=FRC2026.git

ready to test!!! hoorrayy
---

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 95a731a..7e15e4b 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -51,7 +51,8 @@ public class Turret extends SubsystemBase implements TurretIO{
 	private static final double MIN_ANGLE_RAD = Units.degreesToRadians(-90); // Change this later to the actual values
 	private static final double MAX_ANGLE_RAD = Units.degreesToRadians(90);
 
-	private static final double MAX_VEL_RAD_PER_SEC = 25;
+	//private static final double MAX_VEL_RAD_PER_SEC = 25;
+	private static final double MAX_VEL_RAD_PER_SEC = 3.0; // Starting super duper slow for now
 	private static final double MAX_ACCEL_RAD_PER_SEC2 = 160.0;
 
 	private static final double GEAR_RATIO = TurretConstants.TURRET_GEAR_RATIO;
@@ -238,7 +239,8 @@ public class Turret extends SubsystemBase implements TurretIO{
 				motor.getPosition().getValue().in(edu.wpi.first.units.Units.Radians),
 				motorSetpointPosition);
 			
-		targetVelocity += Units.rotationsToRadians(motorVelRotPerSec);
+		//targetVelocity += Units.rotationsToRadians(motorVelRotPerSec); // TODO: Change this back after full rotation
+		targetVelocity += Math.abs(setpoint.position) != Math.PI/2 ? Units.rotationsToRadians(motorVelRotPerSec) : 0;
 
 		double voltage = feedForward.calculate(targetVelocity);