From: iefomit <timofei.stem@gmail.com>
Date: Thu, 9 Apr 2026 17:38:53 +0000 (-0700)
Subject: Revert "sorry it wasn't updated..."
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=df42f7964d5ea6a7ef4efcaccdeecf71a35454df;p=FRC2026.git

Revert "sorry it wasn't updated..."
---

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index 3c7cfdc..6cad5be 100644
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -159,10 +159,10 @@ public class Superstructure extends Command {
         }
 
         // Subtract the rotational angle of the robot from the setpoint
-        double adjustedTurretSetpoint = MathUtil.inputModulus(turretAngle.getRadians() - drivepose.getRotation().getRadians(), TurretConstants.MIN_ANGLE, TurretConstants.MAX_ANGLE);
+        double adjustedTurretSetpoint = MathUtil.angleModulus(turretAngle.getRadians() - drivepose.getRotation().getRadians());
 
         // Shortest path
-        double error = MathUtil.inputModulus(Units.radiansToDegrees(adjustedTurretSetpoint) - Units.radiansToDegrees(turret.getPositionRad()), TurretConstants.MIN_ANGLE, TurretConstants.MAX_ANGLE);
+        double error = MathUtil.inputModulus(Units.radiansToDegrees(adjustedTurretSetpoint) - Units.radiansToDegrees(turret.getPositionRad()), -180, 180);
         double potentialSetpoint = Units.radiansToDegrees(turret.getPositionRad()) + error + turretOffset;
 
         // Stay within physical limits -- if shortest path is past max angle, we go long way around
@@ -323,4 +323,4 @@ public class Superstructure extends Command {
         stowEverything();
     }
 
-}
\ No newline at end of file
+}
diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index a2c88eb..e482343 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, Units.degreesToRadians(TurretConstants.MIN_ANGLE), Units.degreesToRadians(TurretConstants.MAX_ANGLE));
+		delta = MathUtil.angleModulus(delta);
 		
 		// filter delta
 		double filteredDelta = setpointFilter.calculate(delta);
 		
 		// apply filtered range
-		lastFilteredRad = MathUtil.inputModulus(lastFilteredRad + filteredDelta, Units.degreesToRadians(TurretConstants.MIN_ANGLE), Units.degreesToRadians(TurretConstants.MAX_ANGLE));
+		lastFilteredRad = MathUtil.angleModulus(lastFilteredRad + filteredDelta);
 		lastRawSetpoint = best;
 		best = lastFilteredRad;
 
@@ -239,7 +239,7 @@ public class Turret extends SubsystemBase implements TurretIO{
 			SmartDashboard.putBoolean("Turret Calibrated", !calibrating);
 			SmartDashboard.putBoolean("Turret At Setpoint", atSetpoint());
 		}
-		Logger.recordOutput("Turret/Position", getPositionDeg());
+		
 	}
 
 	/* ---------------- Simulation ---------------- */
@@ -301,4 +301,4 @@ public class Turret extends SubsystemBase implements TurretIO{
 		calibrating = false;
 		setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(TurretConstants.CALIBRATION_OFFSET)), 0.0);
 	}
-}
\ No newline at end of file
+}
diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index 2055b74..afd311c 100644
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -4,8 +4,8 @@ import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
 
 public class TurretConstants {
-    public static double MAX_ANGLE = 175; // Deg NOTE: currently it actually only goes to 150
-    public static double MIN_ANGLE = -250; // Deg
+    public static double MAX_ANGLE = 180; // Deg
+    public static double MIN_ANGLE = -200; // Deg
 
     public static double CALIBRATION_OFFSET = 0.0; // TODO: find this at hardstop