From b6e98ccd245ecda33d0edd6805b68cac5bd62ce8 Mon Sep 17 00:00:00 2001 From: WesleyWong-972 Date: Fri, 27 Mar 2026 15:16:54 -0700 Subject: [PATCH] eoijfoiwj --- .../java/frc/robot/subsystems/turret/Turret.java | 13 +++---------- 1 file changed, 3 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 0b6f00d..55784e6 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -43,8 +43,6 @@ public class Turret extends SubsystemBase implements TurretIO{ /* ---------------- Hardware ---------------- */ private final TalonFX motor = new TalonFX(IdConstants.TURRET_MOTOR_ID, Constants.CANIVORE_SUB); - private final CANcoder encoderLeft = new CANcoder(IdConstants.TURRET_ENCODER_LEFT_ID, Constants.CANIVORE_SUB); - private final CANcoder encoderRight = new CANcoder(IdConstants.TURRET_ENCODER_RIGHT_ID, Constants.CANIVORE_SUB); private TalonFXSimState simState; private SingleJointedArmSim turretSim; @@ -210,9 +208,9 @@ public class Turret extends SubsystemBase implements TurretIO{ } } else{ // Sets motor control with feedforward - motor.setControl(mmVoltageRequest - .withPosition(motorGoalRotations) - .withFeedForward(robotTurnCompensation)); + // motor.setControl(mmVoltageRequest + // .withPosition(motorGoalRotations) + // .withFeedForward(robotTurnCompensation)); } Logger.recordOutput("Turret/Voltage", motor.getMotorVoltage().getValue()); @@ -225,9 +223,6 @@ public class Turret extends SubsystemBase implements TurretIO{ Logger.processInputs("Turret", inputs); SmartDashboard.putNumber("Turret position", Units.radiansToDegrees(getPositionRad())); - SmartDashboard.putNumber("Encoder left position", encoderLeft.getAbsolutePosition().getValueAsDouble()); - SmartDashboard.putNumber("Encoder right position", encoderRight.getAbsolutePosition().getValueAsDouble()); - SmartDashboard.putBoolean("Turret Calibrated", !calibrating); SmartDashboard.putBoolean("Turret At Setpoint", atSetpoint()); } @@ -251,8 +246,6 @@ public class Turret extends SubsystemBase implements TurretIO{ inputs.positionDeg = Units.rotationsToDegrees(motor.getPosition().getValueAsDouble()) / TurretConstants.GEAR_RATIO; inputs.velocityRadPerSec = Units.rotationsToRadians(motor.getVelocity().getValueAsDouble()) / TurretConstants.GEAR_RATIO; inputs.motorCurrent = motor.getStatorCurrent().getValueAsDouble(); - inputs.encoderLeftRot = wrapUnit(encoderLeft.getAbsolutePosition().getValueAsDouble()); - inputs.encoderRightRot = wrapUnit(encoderRight.getAbsolutePosition().getValueAsDouble()); inputs.motorVoltage = motor.getMotorVoltage().getValueAsDouble(); inputs.positionDeg = crt.solve(inputs.encoderLeftRot, inputs.encoderRightRot); } -- 2.39.5