From: iefomit <timofei.stem@gmail.com>
Date: Thu, 9 Apr 2026 06:14:53 +0000 (-0700)
Subject: unit conversion
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=b92fe5f521a15d986483b6262b3280b39b41aba5;p=FRC2026.git

unit conversion
---

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 505ea80..6a360e4 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -193,13 +193,13 @@ public class Turret extends SubsystemBase implements TurretIO{
 
 		// calculate shortest angular delta
 		double delta = best - lastRawSetpoint;
-		delta = MathUtil.inputModulus(delta, TurretConstants.MIN_ANGLE, TurretConstants.MAX_ANGLE);
+		delta = MathUtil.inputModulus(delta, Units.degreesToRadians(TurretConstants.MIN_ANGLE), Units.degreesToRadians(TurretConstants.MAX_ANGLE));
 		
 		// filter delta
 		double filteredDelta = setpointFilter.calculate(delta);
 		
 		// apply filtered range
-		lastFilteredRad = MathUtil.inputModulus(lastFilteredRad + filteredDelta, TurretConstants.MIN_ANGLE, TurretConstants.MAX_ANGLE);
+		lastFilteredRad = MathUtil.inputModulus(lastFilteredRad + filteredDelta, Units.degreesToRadians(TurretConstants.MIN_ANGLE), Units.degreesToRadians(TurretConstants.MAX_ANGLE));
 		lastRawSetpoint = best;
 		best = lastFilteredRad;