From 5e970ef6cdecea553cd6ee8f5be4fbce3c9fc8c1 Mon Sep 17 00:00:00 2001 From: mixxlto Date: Fri, 13 Feb 2026 11:21:31 -0800 Subject: [PATCH] Update Turret.java --- src/main/java/frc/robot/subsystems/turret/Turret.java | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java index 5ac76d4..b6e2ecc 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -2,6 +2,7 @@ package frc.robot.subsystems.turret; import org.littletonrobotics.junction.Logger; +import com.ctre.phoenix6.configs.MotorOutputConfigs; import com.ctre.phoenix6.configs.Slot0Configs; import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.controls.MotionMagicDutyCycle; @@ -123,13 +124,7 @@ public class Turret extends SubsystemBase implements TurretIO{ motionMagicConfigs.MotionMagicCruiseVelocity = 10 * GEAR_RATIO; motionMagicConfigs.MotionMagicAcceleration = 50 * GEAR_RATIO; motor.getConfigurator().apply(config); - - motor.getConfigurator().apply( - new com.ctre.phoenix6.configs.TalonFXConfiguration() { - { - MotorOutput.Inverted = InvertedValue.Clockwise_Positive; - } - }); + motor.getConfigurator().apply(new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive)); // profile = new TrapezoidProfile(new Constraints(MAX_VEL_RAD_PER_SEC, feedForward.maxAchievableAcceleration(DCMotor.getKrakenX60(1, GEAR_RATIO), goalVelocityRadPerSec)))) -- 2.39.5