From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Mon, 16 Feb 2026 19:15:55 +0000 (-0800)
Subject: Merge branch 'arnavs-mega-velocityvoltage-turret' of https://github.com/iron-claw... 
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=ff32eb713b91a1b0ea835164d5e5d3e3e76ae873;p=FRC2026.git

Merge branch 'arnavs-mega-velocityvoltage-turret' of https://github.com/iron-claw-972/FRC2026 into arnavs-mega-velocityvoltage-turret
---

ff32eb713b91a1b0ea835164d5e5d3e3e76ae873
diff --cc src/main/java/frc/robot/subsystems/turret/Turret.java
index 6c7e45c,5650661..23b929f
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@@ -193,27 -207,13 +189,25 @@@ public class Turret extends SubsystemBa
  			}
  		}
  
- 		double currentPositionRad = getPositionRad();
- 		double errorRad = best - currentPositionRad;
- 		double absError = Math.abs(errorRad);
+ 		lastGoalRad = best;
  
 -		// apply filter to smooth setpoint
 -		double filteredSetpoint = setpointFilter.calculate(best);
 +		if(Math.abs(best - lastGoalRad) < Math.PI/2){
 +			best = setpointFilter.calculate(best);
 +		}
  
  		// Tells the Kraken to get to this position using 1000Hz profile
 -		double motorGoalRotations = Units.radiansToRotations(filteredSetpoint) * GEAR_RATIO;
 +		double motorGoalRotations = Units.radiansToRotations(best) * GEAR_RATIO;
 +		// if (isInDeadband) {
 +		// 	if (absError > START_THRESHOLD_RAD) {
 +		// 		isInDeadband = false;
 +		// 		lastGoalRad = best;
 +		// 	}
 +		// } else {
 +		// 	lastGoalRad = best;
 +		// 	if (absError < STOP_THRESHOLD_RAD) {
 +		// 		isInDeadband = true;
 +		// 	}
 +		// }
  
  		motorGoalRotations = MathUtil.clamp(motorGoalRotations, Units.degreesToRotations(-180) * GEAR_RATIO, Units.degreesToRotations(180) * GEAR_RATIO);
  		
@@@ -221,15 -221,13 +215,13 @@@
  		// Add the feedforward for the target velocity (SOTM) here as well
  		double feedforwardVoltage = feedForward.calculate((goalVelocityRadPerSec) * GEAR_RATIO);
  		
 -		double robotTurnCompensation = goalVelocityRadPerSec * 0.165;
 +		double robotTurnCompensation = goalVelocityRadPerSec * 0.185;
  
- 		double feedforward = isInDeadband ? 0.0 : robotTurnCompensation;
- 
  		motor.setControl(mmVoltageRequest
  			.withPosition(motorGoalRotations)
- 			.withFeedForward(feedforward));
+ 			.withFeedForward(robotTurnCompensation));
  
- 		Logger.recordOutput("Turret/InDeadband", isInDeadband);
+ 		Logger.recordOutput("Turret/FilteredSetpoint", Units.radiansToDegrees(filteredSetpoint));
  
  		lastFrameVelocity = Units.rotationsToRadians(motor.getVelocity().getValueAsDouble());