From d0666f1969b2ca1b2aac5769d59560e92abc9a79 Mon Sep 17 00:00:00 2001 From: WesleyWong-972 Date: Fri, 27 Mar 2026 15:39:22 -0700 Subject: [PATCH] commit farming --- 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 55784e6..e9b2e6f 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -201,7 +201,7 @@ public class Turret extends SubsystemBase implements TurretIO{ double robotTurnCompensation = goalVelocityRadPerSec * TurretConstants.FEEDFORWARD_KV; if(calibrating){ - motor.set(0.05); + // motor.set(0.05); boolean calibrated = Math.abs(motor.getStatorCurrent().getValueAsDouble()) >= TurretConstants.CALIBRATION_CURRENT_THRESHOLD; if(calibrationDebouncer.calculate(calibrated)){ stopCalibrating(); @@ -247,7 +247,7 @@ public class Turret extends SubsystemBase implements TurretIO{ inputs.velocityRadPerSec = Units.rotationsToRadians(motor.getVelocity().getValueAsDouble()) / TurretConstants.GEAR_RATIO; inputs.motorCurrent = motor.getStatorCurrent().getValueAsDouble(); inputs.motorVoltage = motor.getMotorVoltage().getValueAsDouble(); - inputs.positionDeg = crt.solve(inputs.encoderLeftRot, inputs.encoderRightRot); + inputs.positionDeg = motor.getPosition().getValueAsDouble(); } /** -- 2.39.5