From 5ca04967ed5db186afab7797a1c5a7eaa9c2e3f4 Mon Sep 17 00:00:00 2001 From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com> Date: Fri, 20 Feb 2026 14:04:03 -0800 Subject: [PATCH] a --- src/main/java/frc/robot/subsystems/turret/Turret.java | 2 +- src/main/java/frc/robot/subsystems/turret/TurretConstants.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java index da48bb2..013f91b 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -164,7 +164,7 @@ public class Turret extends SubsystemBase implements TurretIO{ SmartDashboard.putNumber("CRT thing out", Units.rotationsToDegrees(turretRotations)); double motorRotations = turretRotations * TurretConstants.TURRET_GEAR_RATIO; - // motor.setPosition(motorRotations); + motor.setPosition(motorRotations); // Position extrapolation diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java index 86fe6fd..8710b6b 100644 --- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java @@ -14,7 +14,7 @@ public class TurretConstants { public static double TURRET_RADIUS = TURRET_WIDTH / 2; public static double TURRET_TEETH_COUNT = 140.0; // the turret teeth count - public static double TURRET_GEAR_RATIO = 38.81818182; + public static double TURRET_GEAR_RATIO = 30.545454; public static int LEFT_ENCODER_TEETH = 15; // gear teeth 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 -- 2.39.5