From: iefomit <timofei.stem@gmail.com>
Date: Wed, 1 Apr 2026 07:04:07 +0000 (-0700)
Subject: Merge from main
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=bba482c790bea335a73818f3430c40bcd330b565;p=FRC2026.git

Merge from main
---

bba482c790bea335a73818f3430c40bcd330b565
diff --cc src/main/java/frc/robot/constants/IntakeConstants.java
index 2b91f84,87ac3d7..05152a6
--- a/src/main/java/frc/robot/constants/IntakeConstants.java
+++ b/src/main/java/frc/robot/constants/IntakeConstants.java
@@@ -15,9 -15,6 +15,9 @@@ public class IntakeConstants 
      public static final double CALIBRATING_CURRENT_LIMITS = 10.0;
      public static final double CALIBRATING_CURRENT_THRESHOLD = 9.0;
  
-     /**Current */
++    /** Current limit for normal operation */
 +    public static final double NORMAL_CURRENT_LIMIT = 100.0;
 +
      public static final double ROLLER_MOI_KG_M_SQ = 0.5 * 0.020 * 0.020; // 0.5kg roller, 20mm radius for now
      public static final double ROLLER_GEARING = 2.0;
      public static final double CARRIAGE_MASS_KG = 3.0;
diff --cc src/main/java/frc/robot/subsystems/turret/Turret.java
index 315b4ad,21a48d5..7217229
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@@ -201,10 -201,10 +201,10 @@@ public class Turret extends SubsystemBa
  		motorGoalRotations = MathUtil.clamp(motorGoalRotations, Units.degreesToRotations(TurretConstants.MIN_ANGLE) * TurretConstants.GEAR_RATIO, Units.degreesToRotations(TurretConstants.MAX_ANGLE) * TurretConstants.GEAR_RATIO);
  			
  		// Multiply goal velocity by kV
 -		double robotTurnCompensation = goalVelocityRadPerSec * TurretConstants.FEEDFORWARD_KV;
 +		double robotTurnCompensation = goalVelocityRadPerSec * TurretConstants.FEEDFORWARD_KV * TurretConstants.GEAR_RATIO;
  
  		if(calibrating){
- 			// motor.set(0.05);
+ 			motor.set(0.05);
  			boolean calibrated = Math.abs(motor.getStatorCurrent().getValueAsDouble()) >= TurretConstants.CALIBRATION_CURRENT_THRESHOLD;
  			if(calibrationDebouncer.calculate(calibrated)){
  				stopCalibrating();
diff --cc src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index 7a8b9af,260c3ab..0e1adf8
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@@ -24,9 -24,9 +24,9 @@@ public class TurretConstants 
  
  	public static final double EXTRAPOLATION_TIME_CONSTANT = 0.06;
  
 -	public static final double FEEDFORWARD_KV = 0.185;
 +	public static final double FEEDFORWARD_KV = 0.06;
  
-     public static final double NORMAL_CURRENT_LIMIT = 40.0; // A
+     public static final double NORMAL_CURRENT_LIMIT = 25.0; // A
      public static final double CALIBRATION_CURRENT_LIMIT = 10.0; // A
      public static final double CALIBRATION_CURRENT_THRESHOLD = 9.0; // A
  
diff --cc src/main/java/frc/robot/util/TrenchAssist/TrenchAssist.java
index 4d2a3e3,259e6a3..6c913e5
--- a/src/main/java/frc/robot/util/TrenchAssist/TrenchAssist.java
+++ b/src/main/java/frc/robot/util/TrenchAssist/TrenchAssist.java
@@@ -1,9 -1,9 +1,6 @@@
  package frc.robot.util.TrenchAssist;
  
--import org.littletonrobotics.junction.Logger;
--
  import edu.wpi.first.math.controller.PIDController;
--import edu.wpi.first.math.geometry.Pose2d;
  import edu.wpi.first.math.geometry.Rotation2d;
  import edu.wpi.first.math.geometry.Translation2d;
  import edu.wpi.first.math.kinematics.ChassisSpeeds;