From: iefomit <timofei.stem@gmail.com>
Date: Wed, 8 Apr 2026 01:52:44 +0000 (-0700)
Subject: optimization
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=8fc023a0ab3bd6ffcfdb3de47605db83a8cd2ade;p=FRC2026.git

optimization
---

diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
index 5b1de6d..4804c89 100644
--- a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
@@ -324,7 +324,10 @@ public class Drivetrain extends SubsystemBase {
             if (vision != null && visionEnabled && visionEnableTimer.hasElapsed(5)) {
                 vision.updateOdometry(poseEstimator, time -> getPoseAt(time).getRotation().getRadians(), slipped);
 
-                if (vision.canSeeTag()) {
+                // skip vision if no tags
+                if (!vision.canSeeTag()) {
+                    slipped = true;
+                } else {
                     slipped = false;
                     modulePoses.reset();
 
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index af8cfac..b34a4e5 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -81,8 +81,10 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         // shooterTargetSpeed = SmartDashboard.getNumber("Shooter Setpoint", shooterTargetSpeed);
         // SmartDashboard.putNumber("Shooter Setpoint", shooterTargetSpeed);
 
-        powerModifier = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", powerModifier);
-        SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", powerModifier);
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            powerModifier = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", powerModifier);
+            SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", powerModifier);
+        }
         
         // Convert to RPS
         double targetVelocityRPS = Units.radiansToRotations(shooterTargetSpeed / (ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2)) * powerModifier;
diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 18b79d9..e74cf33 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -234,9 +234,6 @@ public class Turret extends SubsystemBase implements TurretIO{
 		// --- Visualization ---
 		ligament.setAngle(Units.radiansToDegrees(getPositionRad()));
 
-		updateInputs();
-		Logger.processInputs("Turret", inputs);
-
 		if (!Constants.DISABLE_SMART_DASHBOARD) {
 			SmartDashboard.putNumber("Turret position", Units.radiansToDegrees(getPositionRad()));
 			SmartDashboard.putBoolean("Turret Calibrated", !calibrating);