From e435ba046ad89befb11af1d09ab7d83aeebe9517 Mon Sep 17 00:00:00 2001 From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com> Date: Thu, 5 Feb 2026 17:04:00 -0800 Subject: [PATCH] a --- .../frc/robot/subsystems/turret/TurretConstants.java | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java index 60c8753..ece6543 100644 --- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java +++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java @@ -1,6 +1,5 @@ package frc.robot.subsystems.turret; -import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.util.Units; public class TurretConstants { @@ -15,5 +14,11 @@ public class TurretConstants { public static double ROTATIONAL_VELOCITY_CONSTANT = 0.2; - public static Translation2d DISTANCE_FROM_ROBOT_CENTER = new Translation2d(0, 0); + public static double TURRET_GEAR_RATIO = 140; // the turret teeth count + public static double LEFT_ENCODER_RATIO = 70/11; // read right description + public static double RIGHT_ENCODER_RATIO = 28/3; // The amount of times this encoder turns for every time the turret turns + public static double ENCODER_COUNT_TOTAL = 8192; // how many intervals it can have, like clicks on a clock chat gpt explained to me + + public static double LEFT_ENCODER_OFFSET = 0; // degrees + public static double RIGHT_ENCODER_OFFSET = 0; // degrees } -- 2.39.5