From 3cb4579a1b3cbc7ad385f18fbfc5117db043460b Mon Sep 17 00:00:00 2001 From: iefomit Date: Tue, 24 Feb 2026 22:22:07 -0800 Subject: [PATCH] should reduce overruns --- src/main/java/frc/robot/subsystems/turret/Turret.java | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java index 99e068e..4b033f7 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -99,6 +99,8 @@ public class Turret extends SubsystemBase implements TurretIO{ 0.0); } SmartDashboard.putData("Turret Mech", mech); + SmartDashboard.putData("Start turret calibration", new InstantCommand(()-> calibrate())); + SmartDashboard.putData("Stop turret calibration", new InstantCommand(()-> stopCalibrating())); double leftPosition = encoderLeft.getAbsolutePosition().getValueAsDouble(); double leftAbs = wrapUnit(leftPosition - TurretConstants.LEFT_ENCODER_OFFSET); @@ -237,9 +239,6 @@ public class Turret extends SubsystemBase implements TurretIO{ SmartDashboard.putNumber("Turret position", Units.radiansToDegrees(getPositionRad())); SmartDashboard.putNumber("Encoder left position", encoderLeft.getAbsolutePosition().getValueAsDouble()); SmartDashboard.putNumber("Encoder right position", encoderRight.getAbsolutePosition().getValueAsDouble()); - - SmartDashboard.putData("Start turret calibration", new InstantCommand(()-> calibrate())); - SmartDashboard.putData("Stop turret calibration", new InstantCommand(()-> stopCalibrating())); } /* ---------------- Simulation ---------------- */ -- 2.39.5