From 93d8e755623fb84bc9bc9e17f875c7bea0dcdaa6 Mon Sep 17 00:00:00 2001
From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Fri, 20 Feb 2026 14:06:19 -0800
Subject: [PATCH] a

---
 .../java/frc/robot/subsystems/turret/Turret.java | 16 +++++++---------
 .../robot/subsystems/turret/TurretConstants.java |  2 +-
 2 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 013f91b..1647999 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -145,28 +145,26 @@ public class Turret extends SubsystemBase implements TurretIO{
 
 		int leftTooth = (int) Math.round(leftAbs * TurretConstants.LEFT_ENCODER_TEETH)
 				% TurretConstants.LEFT_ENCODER_TEETH;
-		SmartDashboard.putNumber("Left Tooth", leftTooth);
+		//SmartDashboard.putNumber("Left Tooth", leftTooth);
 
 		int rightTooth = (int) Math.round(rightAbs * TurretConstants.RIGHT_ENCODER_TEETH)
 				% TurretConstants.RIGHT_ENCODER_TEETH;
-		SmartDashboard.putNumber("Right Tooth", rightTooth);
+		//SmartDashboard.putNumber("Right Tooth", rightTooth);
 
 		int turretIndex = ChineseRemainderTheorem.solve(leftTooth, TurretConstants.LEFT_ENCODER_TEETH, rightTooth, TurretConstants.RIGHT_ENCODER_TEETH);
-		SmartDashboard.putNumber("Turret Index", turretIndex);
+		//SmartDashboard.putNumber("Turret Index", turretIndex);
 
-		double totalTeeth = TurretConstants.LEFT_ENCODER_TEETH
-        * TurretConstants.RIGHT_ENCODER_TEETH;
-
-		double turretRotations = turretIndex / (double) 140.0;
+		double turretRotations = turretIndex / (double) TurretConstants.TURRET_TEETH_COUNT;
 		if(Units.rotationsToDegrees(turretRotations) > 500.0){
 			turretRotations -= Units.degreesToRotations(846.0);
 		}
-		SmartDashboard.putNumber("CRT thing out", Units.rotationsToDegrees(turretRotations));
+		SmartDashboard.putNumber("CRT Position", Units.rotationsToDegrees(turretRotations));
 
 		double motorRotations = turretRotations * TurretConstants.TURRET_GEAR_RATIO;
+
+		//Sets the initial motor position
 		motor.setPosition(motorRotations);
 
-		
 		// Position extrapolation
 		double lookAheadSeconds = EXTRAPOLATION_TIME_CONSTANT; 
     	double futureRobotAngle = goalAngle.getRadians() + (goalVelocityRadPerSec * lookAheadSeconds);
diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index 8710b6b..e56cfec 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 = 30.545454;
+    public static double TURRET_GEAR_RATIO = 25.454545454;
     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