From 192378634f96122ad72e707864ad3f2302032499 Mon Sep 17 00:00:00 2001 From: WesleyWong-972 Date: Wed, 8 Apr 2026 14:17:00 -0700 Subject: [PATCH] ATTEMPT ONE --- src/main/java/frc/robot/commands/gpm/Superstructure.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java index 029bae1..57bb09a 100644 --- a/src/main/java/frc/robot/commands/gpm/Superstructure.java +++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java @@ -162,7 +162,7 @@ public class Superstructure extends Command { double adjustedTurretSetpoint = MathUtil.angleModulus(turretAngle.getRadians() - drivepose.getRotation().getRadians()); // Shortest path - double error = MathUtil.inputModulus(Units.radiansToDegrees(adjustedTurretSetpoint) - Units.radiansToDegrees(turret.getPositionRad()), -180, 180); + double error = MathUtil.inputModulus(Units.radiansToDegrees(adjustedTurretSetpoint) - Units.radiansToDegrees(turret.getPositionRad()), TurretConstants.MIN_ANGLE, TurretConstants.MAX_ANGLE); double potentialSetpoint = Units.radiansToDegrees(turret.getPositionRad()) + error + turretOffset; // Stay within +/- 200 -- if shortest path is past 200, we go long way around -- 2.39.5