From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Wed, 18 Feb 2026 23:42:32 +0000 (-0800)
Subject: a
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=90535abc4b8af370f4efe10994fcba2595282d9d;p=FRC2026.git

a
---

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index ac05b79..e9abb0b 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -74,7 +74,7 @@ public class Robot extends LoggedRobot {
         //   SimGUI: Persistent Values, Preferences, RobotId, then restart Simulation
         //     changes networktables.json, networktables.json.bck (both Untracked)
         //   Uncomment the next line, set the desired RobotId, deploy, and then comment the line out
-        //  RobotId.setRobotId(RobotId.SwerveCompetition);
+          RobotId.setRobotId(RobotId.TestBed2);
         DriveConstants.update(RobotId.getRobotId());
         RobotController.setBrownoutVoltage(6.0);
         // obtain this robot's identity
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 0c8b25d..c7c8cb7 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -75,6 +75,7 @@ public class RobotContainer {
         break;
 
       case TestBed2:
+        turret = new Turret();
         break;
 
       default:
diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index e33b325..fac3856 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -50,8 +50,8 @@ public class Turret extends SubsystemBase implements TurretIO{
 	/* ---------------- Hardware ---------------- */
 
 	private final TalonFX motor = new TalonFX(IdConstants.TURRET_MOTOR_ID, Constants.SUBSYSTEM_CANIVORE_CAN);
-	private final CANcoder encoderLeft = new CANcoder(0, Constants.SUBSYSTEM_CANIVORE_CAN);
-    private final CANcoder encoderRight = new CANcoder(1, Constants.SUBSYSTEM_CANIVORE_CAN);
+	private final CANcoder encoderLeft = new CANcoder(1, Constants.SUBSYSTEM_CANIVORE_CAN);
+    private final CANcoder encoderRight = new CANcoder(0, Constants.SUBSYSTEM_CANIVORE_CAN);
 
 	private TalonFXSimState simState;
 	private SingleJointedArmSim turretSim;
@@ -106,22 +106,30 @@ public class Turret extends SubsystemBase implements TurretIO{
 					false,
 					0.0);
 		}
+		// Do this for both encoders in the constructor
+		double leftPosition = encoderLeft.getAbsolutePosition().getValueAsDouble();
 
-		double leftAbs = wrapUnit(encoderLeft.getAbsolutePosition().getValueAsDouble() - TurretConstants.LEFT_ENCODER_OFFSET);
-		double rightAbs = wrapUnit(encoderRight.getAbsolutePosition().getValueAsDouble() - TurretConstants.RIGHT_ENCODER_OFFSET);
+		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 totalTeeth = TurretConstants.LEFT_ENCODER_TEETH
         * TurretConstants.RIGHT_ENCODER_TEETH;
 
-		double turretRotations = turretIndex / (double) totalTeeth;
+		double turretRotations = turretIndex / (double) 140.0;
 
 		double motorRotations = turretRotations * TurretConstants.TURRET_GEAR_RATIO;
 		motor.setPosition(motorRotations);
@@ -208,6 +216,11 @@ public class Turret extends SubsystemBase implements TurretIO{
 		updateInputs();
 		Logger.processInputs("Turret", inputs);
 
+		SmartDashboard.putNumber("Turret position", Units.radiansToDegrees(getPositionRad()));
+		SmartDashboard.putNumber("Encoder left position", encoderLeft.getAbsolutePosition().getValueAsDouble());
+		SmartDashboard.putNumber("Encoder right position", encoderRight.getAbsolutePosition().getValueAsDouble());
+
+
 	}
 
 	/* ---------------- Simulation ---------------- */
diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index 10fee61..86fe6fd 100644
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -14,13 +14,13 @@ 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 = 36.81818182;
+    public static double TURRET_GEAR_RATIO = 38.81818182;
     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
 
-    public static double LEFT_ENCODER_OFFSET = 9.52; // degrees 9.52 rot
-    public static double RIGHT_ENCODER_OFFSET = 6.53; // degrees 6.53 rot
+    public static double LEFT_ENCODER_OFFSET = 0.463379; //  rot
+    public static double RIGHT_ENCODER_OFFSET = 0.197266; //  rot
 
     public static Translation3d DISTANCE_FROM_ROBOT_CENTER = new Translation3d(0,0, Units.inchesToMeters(22.172)); //meters