From b92fe5f521a15d986483b6262b3280b39b41aba5 Mon Sep 17 00:00:00 2001 From: iefomit Date: Wed, 8 Apr 2026 23:14:53 -0700 Subject: [PATCH] unit conversion --- src/main/java/frc/robot/subsystems/turret/Turret.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java index 505ea80..6a360e4 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -193,13 +193,13 @@ public class Turret extends SubsystemBase implements TurretIO{ // calculate shortest angular delta double delta = best - lastRawSetpoint; - delta = MathUtil.inputModulus(delta, TurretConstants.MIN_ANGLE, TurretConstants.MAX_ANGLE); + delta = MathUtil.inputModulus(delta, Units.degreesToRadians(TurretConstants.MIN_ANGLE), Units.degreesToRadians(TurretConstants.MAX_ANGLE)); // filter delta double filteredDelta = setpointFilter.calculate(delta); // apply filtered range - lastFilteredRad = MathUtil.inputModulus(lastFilteredRad + filteredDelta, TurretConstants.MIN_ANGLE, TurretConstants.MAX_ANGLE); + lastFilteredRad = MathUtil.inputModulus(lastFilteredRad + filteredDelta, Units.degreesToRadians(TurretConstants.MIN_ANGLE), Units.degreesToRadians(TurretConstants.MAX_ANGLE)); lastRawSetpoint = best; best = lastFilteredRad; -- 2.39.5