From a20d98449ef20102a117ef01ba2001cef28583bc Mon Sep 17 00:00:00 2001 From: iefomit Date: Tue, 10 Mar 2026 16:57:58 -0700 Subject: [PATCH] never stops calibrating --- src/main/java/frc/robot/subsystems/Intake/Intake.java | 6 +++--- src/main/java/frc/robot/subsystems/turret/Turret.java | 4 ---- 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java index 7721f50..25f839b 100644 --- a/src/main/java/frc/robot/subsystems/Intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java @@ -186,9 +186,9 @@ public class Intake extends SubsystemBase implements IntakeIO{ leftMotor.set(-0.1); rightMotor.set(-0.1); boolean atHardStop = Math.abs((leftMotor.getStatorCurrent().getValueAsDouble() + rightMotor.getStatorCurrent().getValueAsDouble()) / 2) >= IntakeConstants.CALIBRATING_CURRENT_THRESHOLD; - // if(calibrationDebouncer.calculate(atHardStop)){ - // stopCalibrating(); - // } + if(calibrationDebouncer.calculate(atHardStop)){ + stopCalibrating(); + } } updateInputs(); diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java index 2c0e346..49ac5cf 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -121,10 +121,6 @@ public class Turret extends SubsystemBase implements TurretIO{ inputs.positionDeg = turretRot; motor.setPosition(motorRotations); - //motor.setPosition(Units.degreesToRotations(238.86) * TurretConstants.GEAR_RATIO); - - motor.setPosition(0.0); - SmartDashboard.putData("Turn to 0", new InstantCommand(()->{setFieldRelativeTarget(Rotation2d.fromDegrees(0), 0.0);})); SmartDashboard.putData("Turn to -90", new InstantCommand(()->{setFieldRelativeTarget(Rotation2d.fromDegrees(-90), 0.0);})); SmartDashboard.putData("Turn to 90", new InstantCommand(()->{setFieldRelativeTarget(Rotation2d.fromDegrees(90), 0.0);})); -- 2.39.5