From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Fri, 20 Feb 2026 22:08:43 +0000 (-0800)
Subject: Merge branch 'Wesleys-chinese-remainder-theorem' into intake-pull-request
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=e6d159f1a0c3005a1e2c41c11bb50d6706f06289;p=FRC2026.git

Merge branch 'Wesleys-chinese-remainder-theorem' into intake-pull-request
---

e6d159f1a0c3005a1e2c41c11bb50d6706f06289
diff --cc src/main/java/frc/robot/subsystems/turret/Turret.java
index c9cffb0,1647999..8a806e5
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@@ -155,9 -133,40 +131,40 @@@ public class Turret extends SubsystemBa
  	public void periodic() {
  		updateInputs();
  		Logger.processInputs("Turret", inputs);
- 		
+ 
+ 		// Do this for both encoders in the constructor
+ 		double leftPosition = encoderLeft.getAbsolutePosition().getValueAsDouble();
+ 
+ 		double leftAbs = wrapUnit(leftPosition - TurretConstants.LEFT_ENCODER_OFFSET);
+ 
+ 		double rightPosition = encoderRight.getAbsolutePosition().getValueAsDouble();
+ 
+ 		double rightAbs = wrapUnit(rightPosition - TurretConstants.RIGHT_ENCODER_OFFSET);
+ 
+ 		int leftTooth = (int) Math.round(leftAbs * TurretConstants.LEFT_ENCODER_TEETH)
+ 				% TurretConstants.LEFT_ENCODER_TEETH;
+ 		//SmartDashboard.putNumber("Left Tooth", leftTooth);
+ 
+ 		int rightTooth = (int) Math.round(rightAbs * TurretConstants.RIGHT_ENCODER_TEETH)
+ 				% TurretConstants.RIGHT_ENCODER_TEETH;
+ 		//SmartDashboard.putNumber("Right Tooth", rightTooth);
+ 
+ 		int turretIndex = ChineseRemainderTheorem.solve(leftTooth, TurretConstants.LEFT_ENCODER_TEETH, rightTooth, TurretConstants.RIGHT_ENCODER_TEETH);
+ 		//SmartDashboard.putNumber("Turret Index", turretIndex);
+ 
+ 		double turretRotations = turretIndex / (double) TurretConstants.TURRET_TEETH_COUNT;
+ 		if(Units.rotationsToDegrees(turretRotations) > 500.0){
+ 			turretRotations -= Units.degreesToRotations(846.0);
+ 		}
+ 		SmartDashboard.putNumber("CRT Position", Units.rotationsToDegrees(turretRotations));
+ 
+ 		double motorRotations = turretRotations * TurretConstants.TURRET_GEAR_RATIO;
+ 
+ 		//Sets the initial motor position
+ 		motor.setPosition(motorRotations);
+ 
  		// Position extrapolation
 -		double lookAheadSeconds = EXTRAPOLATION_TIME_CONSTANT; 
 +		double lookAheadSeconds = TurretConstants.EXTRAPOLATION_TIME_CONSTANT; 
      	double futureRobotAngle = goalAngle.getRadians() + (goalVelocityRadPerSec * lookAheadSeconds);
  
  		//Continuous wrap selection
diff --cc src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index ca6f24f,e56cfec..f3b6a51
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@@ -20,10 -19,9 +20,10 @@@ public class TurretConstants 
      public static int RIGHT_ENCODER_TEETH = 22; // read above
      public static int 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 = 9.52; // degrees 9.52 rot
-     public static double RIGHT_ENCODER_OFFSET = 6.53; // degrees 6.53 rot
+     public static double LEFT_ENCODER_OFFSET = 0.463379; //  rot
+     public static double RIGHT_ENCODER_OFFSET = 0.197266; //  rot
  
 +    // Turret is in center of robot, but make use of the height in shooter physics
      public static Translation3d DISTANCE_FROM_ROBOT_CENTER = new Translation3d(0,0, Units.inchesToMeters(22.172)); //meters
  
      public static double CRT_TOLERANCE = 0.01;