From 61277c0648936de898e90a56508d7a6c1b9c64e0 Mon Sep 17 00:00:00 2001 From: Ahluwalia Date: Wed, 18 Feb 2026 16:21:13 -0800 Subject: [PATCH] Add moar code. --- src/main/java/frc/robot/subsystems/turret/Turret.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java index 8f54925..da48bb2 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -158,6 +158,9 @@ public class Turret extends SubsystemBase implements TurretIO{ * TurretConstants.RIGHT_ENCODER_TEETH; double turretRotations = turretIndex / (double) 140.0; + if(Units.rotationsToDegrees(turretRotations) > 500.0){ + turretRotations -= Units.degreesToRotations(846.0); + } SmartDashboard.putNumber("CRT thing out", Units.rotationsToDegrees(turretRotations)); double motorRotations = turretRotations * TurretConstants.TURRET_GEAR_RATIO; -- 2.39.5