From: iefomit <timofei.stem@gmail.com>
Date: Tue, 10 Mar 2026 23:57:58 +0000 (-0700)
Subject: never stops calibrating
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=a20d98449ef20102a117ef01ba2001cef28583bc;p=FRC2026.git

never stops calibrating
---

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index 7721f50..25f839b 100644
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -186,9 +186,9 @@ public class Intake extends SubsystemBase implements IntakeIO{
             leftMotor.set(-0.1);
             rightMotor.set(-0.1);
             boolean atHardStop = Math.abs((leftMotor.getStatorCurrent().getValueAsDouble() + rightMotor.getStatorCurrent().getValueAsDouble()) / 2) >= IntakeConstants.CALIBRATING_CURRENT_THRESHOLD;
-            // if(calibrationDebouncer.calculate(atHardStop)){
-            //     stopCalibrating();
-            // }
+            if(calibrationDebouncer.calculate(atHardStop)){
+                stopCalibrating();
+            }
         }
 
         updateInputs();
diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 2c0e346..49ac5cf 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -121,10 +121,6 @@ public class Turret extends SubsystemBase implements TurretIO{
 		inputs.positionDeg = turretRot;
 		motor.setPosition(motorRotations);
 
-		//motor.setPosition(Units.degreesToRotations(238.86) * TurretConstants.GEAR_RATIO);
-
-		motor.setPosition(0.0);
-
 		SmartDashboard.putData("Turn to 0", new InstantCommand(()->{setFieldRelativeTarget(Rotation2d.fromDegrees(0), 0.0);}));
 		SmartDashboard.putData("Turn to -90", new InstantCommand(()->{setFieldRelativeTarget(Rotation2d.fromDegrees(-90), 0.0);}));
 		SmartDashboard.putData("Turn to 90", new InstantCommand(()->{setFieldRelativeTarget(Rotation2d.fromDegrees(90), 0.0);}));