From 86e112232af5290350defb9af0445fb2e9c8512e Mon Sep 17 00:00:00 2001 From: WesleyWong-972 Date: Sat, 18 Apr 2026 11:59:25 -0700 Subject: [PATCH] add turret offset back --- .../java/frc/robot/commands/gpm/Superstructure.java | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java index f5a11f5..b370ae4 100644 --- a/src/main/java/frc/robot/commands/gpm/Superstructure.java +++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java @@ -63,7 +63,7 @@ public class Superstructure extends Command { private LoggedNetworkNumber hoodOffset = new LoggedNetworkNumber("OPERATOR: Hood Offset", 0.0); - private LoggedNetworkNumber turretOffset = new LoggedNetworkNumber("OPERATOR: Turret Offset", 0.0); + private double turretOffset = 0.0; private double distanceFromTarget = 0.0; @@ -166,7 +166,7 @@ public class Superstructure extends Command { // Shortest path double error = MathUtil.inputModulus(Units.radiansToDegrees(adjustedTurretSetpoint) - Units.radiansToDegrees(turret.getPositionRad()), -180, 180); - double potentialSetpoint = Units.radiansToDegrees(turret.getPositionRad()) + error + turretOffset.get(); + double potentialSetpoint = Units.radiansToDegrees(turret.getPositionRad()) + error + turretOffset; // Stay within physical limits -- if shortest path is past max angle, we go long way around if (potentialSetpoint > TurretConstants.MAX_ANGLE) { @@ -231,12 +231,12 @@ public class Superstructure extends Command { // aim more left public void bumpUpTurretOffset() { - turretOffset.set(turretOffset.get() + 2.5); //2.5 deg + turretOffset += 2.5; //2.5 deg } // aim more right public void bumpDownTurretOffset() { - turretOffset.set(turretOffset.get() - 2.5); //2.5 deg + turretOffset -= 2.5; //2.5 deg } @Override @@ -248,6 +248,9 @@ public class Superstructure extends Command { updateDrivePose(); updateSetpoints(drivepose); + turretOffset = SmartDashboard.getNumber("OPERATOR: Turret Offset", turretOffset); + SmartDashboard.putNumber("OPERATOR: Turret Offset", turretOffset); + if (phaseManager.isIdle()) { underLadder(); } else { -- 2.39.5