From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Fri, 20 Feb 2026 22:04:03 +0000 (-0800)
Subject: a
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=5ca04967ed5db186afab7797a1c5a7eaa9c2e3f4;p=FRC2026.git

a
---

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index da48bb2..013f91b 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -164,7 +164,7 @@ public class Turret extends SubsystemBase implements TurretIO{
 		SmartDashboard.putNumber("CRT thing out", Units.rotationsToDegrees(turretRotations));
 
 		double motorRotations = turretRotations * TurretConstants.TURRET_GEAR_RATIO;
-		// motor.setPosition(motorRotations);
+		motor.setPosition(motorRotations);
 
 		
 		// Position extrapolation
diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index 86fe6fd..8710b6b 100644
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -14,7 +14,7 @@ public class TurretConstants {
     public static double TURRET_RADIUS = TURRET_WIDTH / 2;
 
     public static double TURRET_TEETH_COUNT = 140.0; // the turret teeth count
-    public static double TURRET_GEAR_RATIO = 38.81818182;
+    public static double TURRET_GEAR_RATIO = 30.545454;
     public static int LEFT_ENCODER_TEETH = 15; // gear teeth
     public static int RIGHT_ENCODER_TEETH = 22; // read above
     public static int ENCODER_COUNT_TOTAL = 8192; // how many intervals it can have, like clicks on a clock chat gpt explained to me