From: mixxlto Date: Wed, 21 Jan 2026 02:27:30 +0000 (-0800) Subject: Update Turret.java X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=ed3d57da2db434713c377b40a142f6f4bb178428;p=FRC2026.git Update Turret.java --- diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java index c1c043c..72421d9 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -87,7 +87,7 @@ public class Turret extends SubsystemBase { MotionMagicConfigs motionMagicConfigs = config.MotionMagic; motionMagicConfigs.MotionMagicCruiseVelocity = Units.radiansToRotations(TurretConstants.MAX_VELOCITY / TurretConstants.TURRET_RADIUS) * gearRatio; // max velocity * gear ratio - motionMagicConfigs.MotionMagicCruiseVelocity = Units.radiansToRotations(TurretConstants.MAX_ACCELERATION / TurretConstants.TURRET_RADIUS) * gearRatio; // max Acceleration * gear ratio + motionMagicConfigs.MotionMagicCruiseAcceleration = Units.radiansToRotations(TurretConstants.MAX_ACCELERATION / TurretConstants.TURRET_RADIUS) * gearRatio; // max Acceleration * gear ratio config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; motor.getConfigurator().apply(config);