From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Mon, 16 Feb 2026 20:12:25 +0000 (-0800)
Subject: Merge branch 'arnavs-mega-velocityvoltage-turret' into beta-bot
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=a9036a966d9fc75443332ce039fd8d925fef6130;p=FRC2026.git

Merge branch 'arnavs-mega-velocityvoltage-turret' into beta-bot
---

a9036a966d9fc75443332ce039fd8d925fef6130
diff --cc src/main/java/frc/robot/subsystems/turret/Turret.java
index f856892,d513f76..e7d3bfe
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@@ -50,22 -32,24 +50,26 @@@ public class Turret extends SubsystemBa
  
  	/* ---------------- Constants ---------------- */
  
 -	private static final double MIN_ANGLE_RAD = Units.degreesToRadians(TurretConstants.MIN_ANGLE);
 -	private static final double MAX_ANGLE_RAD = Units.degreesToRadians(TurretConstants.MAX_ANGLE);
 +	private static final double MIN_ANGLE_RAD = Units.degreesToRadians(-180); // Change this later to the actual values
 +	private static final double MAX_ANGLE_RAD = Units.degreesToRadians(180);
  
 -	private static final double MAX_VEL_RAD_PER_SEC = 600;
 +	private static final double MAX_VEL_RAD_PER_SEC = 15;
 +	//private static final double MAX_VEL_RAD_PER_SEC = 3.0; // Starting super duper slow for now
 +	// private static final double MAX_ACCEL_RAD_PER_SEC2 = 160.0;
  	private static final double MAX_ACCEL_RAD_PER_SEC2 = 160.0;
  
 -	private static final double VERSA_RATIO = 5.0;
 -	private static final double TURRET_RATIO = 140.0 / 10.0;
 -	private static final double GEAR_RATIO = VERSA_RATIO * TURRET_RATIO;
 +	private static final double GEAR_RATIO = TurretConstants.TURRET_GEAR_RATIO;
  
- 	private static final PIDController positionPID = new PIDController(15.0, 0, 0.0);
- 	// private static final PIDController positionPID = new PIDController(15, 0, 0.25);
- 	private static final PIDController velocityPID = new PIDController(0.2, 0.0, 0.0);
+ 	private static final PIDController positionPID = new PIDController(15, 0, 0.25);
+ 	//private static final PIDController longVelocityPID = new PIDController(15, 0, 1.0);
+ 	private static final PIDController velocityPID = new PIDController(0.0, 0.0, 0.0);
+ 
+ 	private final LinearFilter setpointFilter = LinearFilter.singlePoleIIR(0.02
+ 	, 0.02);
+ 	//hello
  
 +    private final CANcoder encoderLeft = new CANcoder(0, Constants.SUBSYSTEM_CANIVORE_CAN);
 +    private final CANcoder encoderRight = new CANcoder(1, Constants.SUBSYSTEM_CANIVORE_CAN);
  
      private final TurretIOInputsAutoLogged inputs = new TurretIOInputsAutoLogged();