From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Fri, 6 Feb 2026 01:04:00 +0000 (-0800)
Subject: a
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=e435ba046ad89befb11af1d09ab7d83aeebe9517;p=FRC2026.git

a
---

diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index 60c8753..ece6543 100644
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -1,6 +1,5 @@
 package frc.robot.subsystems.turret;
 
-import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.util.Units;
 
 public class TurretConstants {
@@ -15,5 +14,11 @@ public class TurretConstants {
 
     public static double ROTATIONAL_VELOCITY_CONSTANT = 0.2;
 
-    public static Translation2d DISTANCE_FROM_ROBOT_CENTER = new Translation2d(0, 0);
+    public static double TURRET_GEAR_RATIO = 140; // the turret teeth count
+    public static double LEFT_ENCODER_RATIO = 70/11; // read right description
+    public static double RIGHT_ENCODER_RATIO = 28/3; // The amount of times this encoder turns for every time the turret turns
+    public static double ENCODER_COUNT_TOTAL = 8192; // how many intervals it can have, like clicks on a clock chat gpt explained to me
+
+    public static double LEFT_ENCODER_OFFSET = 0; // degrees
+    public static double RIGHT_ENCODER_OFFSET = 0; // degrees
 }