From bd22444fa1ef353161f6303f9019c390686a9a3c Mon Sep 17 00:00:00 2001
From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Fri, 10 Apr 2026 09:58:40 -0700
Subject: [PATCH] WORKING min and max horray

---
 src/main/java/frc/robot/subsystems/turret/Turret.java         | 3 +--
 .../java/frc/robot/subsystems/turret/TurretConstants.java     | 4 ++--
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index e482343..0222ed9 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -193,13 +193,12 @@ public class Turret extends SubsystemBase implements TurretIO{
 
 		// calculate shortest angular delta
 		double delta = best - lastRawSetpoint;
-		delta = MathUtil.angleModulus(delta);
 		
 		// filter delta
 		double filteredDelta = setpointFilter.calculate(delta);
 		
 		// apply filtered range
-		lastFilteredRad = MathUtil.angleModulus(lastFilteredRad + filteredDelta);
+		lastFilteredRad += filteredDelta;
 		lastRawSetpoint = best;
 		best = lastFilteredRad;
 
diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index 2756584..f08df03 100644
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -4,8 +4,8 @@ import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
 
 public class TurretConstants {
-    public static double MAX_ANGLE = 175; // Deg
-    public static double MIN_ANGLE = -250; // Deg
+    public static double MAX_ANGLE = 170; // Deg
+    public static double MIN_ANGLE = -215; // Deg
 
     public static double CALIBRATION_OFFSET = 0.0; // TODO: find this at hardstop
 
-- 
2.39.5