From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Fri, 20 Feb 2026 22:11:06 +0000 (-0800)
Subject: a
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=8d98666a38fd19cb293292036c066e0d1d885f7b;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 8a806e5..15d7c1f 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -90,6 +90,38 @@ public class Turret extends SubsystemBase implements TurretIO{
 		}
 		SmartDashboard.putData("Turret Mech", mech);
 
+		
+		// Do this for both encoders in the constructor
+		double leftPosition = encoderLeft.getAbsolutePosition().getValueAsDouble();
+
+		double leftAbs = wrapUnit(leftPosition - TurretConstants.LEFT_ENCODER_OFFSET);
+
+		double rightPosition = encoderRight.getAbsolutePosition().getValueAsDouble();
+
+		double rightAbs = wrapUnit(rightPosition - TurretConstants.RIGHT_ENCODER_OFFSET);
+
+		int leftTooth = (int) Math.round(leftAbs * TurretConstants.LEFT_ENCODER_TEETH)
+				% TurretConstants.LEFT_ENCODER_TEETH;
+		//SmartDashboard.putNumber("Left Tooth", leftTooth);
+
+		int rightTooth = (int) Math.round(rightAbs * TurretConstants.RIGHT_ENCODER_TEETH)
+				% TurretConstants.RIGHT_ENCODER_TEETH;
+		//SmartDashboard.putNumber("Right Tooth", rightTooth);
+
+		int turretIndex = ChineseRemainderTheorem.solve(leftTooth, TurretConstants.LEFT_ENCODER_TEETH, rightTooth, TurretConstants.RIGHT_ENCODER_TEETH);
+		//SmartDashboard.putNumber("Turret Index", turretIndex);
+
+		double turretRotations = turretIndex / (double) TurretConstants.TURRET_TEETH_COUNT;
+		if(Units.rotationsToDegrees(turretRotations) > 500.0){
+			turretRotations -= Units.degreesToRotations(846.0);
+		}
+		SmartDashboard.putNumber("CRT Position", Units.rotationsToDegrees(turretRotations));
+
+		double motorRotations = turretRotations * TurretConstants.GEAR_RATIO;
+
+		//Sets the initial motor position
+		motor.setPosition(motorRotations);
+
 	}
 
 	/* ---------------- Public API ---------------- */
@@ -132,37 +164,6 @@ public class Turret extends SubsystemBase implements TurretIO{
 		updateInputs();
 		Logger.processInputs("Turret", inputs);
 
-		// Do this for both encoders in the constructor
-		double leftPosition = encoderLeft.getAbsolutePosition().getValueAsDouble();
-
-		double leftAbs = wrapUnit(leftPosition - TurretConstants.LEFT_ENCODER_OFFSET);
-
-		double rightPosition = encoderRight.getAbsolutePosition().getValueAsDouble();
-
-		double rightAbs = wrapUnit(rightPosition - TurretConstants.RIGHT_ENCODER_OFFSET);
-
-		int leftTooth = (int) Math.round(leftAbs * TurretConstants.LEFT_ENCODER_TEETH)
-				% TurretConstants.LEFT_ENCODER_TEETH;
-		//SmartDashboard.putNumber("Left Tooth", leftTooth);
-
-		int rightTooth = (int) Math.round(rightAbs * TurretConstants.RIGHT_ENCODER_TEETH)
-				% TurretConstants.RIGHT_ENCODER_TEETH;
-		//SmartDashboard.putNumber("Right Tooth", rightTooth);
-
-		int turretIndex = ChineseRemainderTheorem.solve(leftTooth, TurretConstants.LEFT_ENCODER_TEETH, rightTooth, TurretConstants.RIGHT_ENCODER_TEETH);
-		//SmartDashboard.putNumber("Turret Index", turretIndex);
-
-		double turretRotations = turretIndex / (double) TurretConstants.TURRET_TEETH_COUNT;
-		if(Units.rotationsToDegrees(turretRotations) > 500.0){
-			turretRotations -= Units.degreesToRotations(846.0);
-		}
-		SmartDashboard.putNumber("CRT Position", Units.rotationsToDegrees(turretRotations));
-
-		double motorRotations = turretRotations * TurretConstants.TURRET_GEAR_RATIO;
-
-		//Sets the initial motor position
-		motor.setPosition(motorRotations);
-
 		// Position extrapolation
 		double lookAheadSeconds = TurretConstants.EXTRAPOLATION_TIME_CONSTANT; 
     	double futureRobotAngle = goalAngle.getRadians() + (goalVelocityRadPerSec * lookAheadSeconds);
diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index f3b6a51..44425c0 100644
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -15,7 +15,7 @@ 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 = 25.454545454;
+    public static double GEAR_RATIO = 25.454545454;
     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