From ed3d57da2db434713c377b40a142f6f4bb178428 Mon Sep 17 00:00:00 2001 From: mixxlto Date: Tue, 20 Jan 2026 18:27:30 -0800 Subject: [PATCH] Update Turret.java --- src/main/java/frc/robot/subsystems/turret/Turret.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java index c1c043c..72421d9 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -87,7 +87,7 @@ public class Turret extends SubsystemBase { MotionMagicConfigs motionMagicConfigs = config.MotionMagic; motionMagicConfigs.MotionMagicCruiseVelocity = Units.radiansToRotations(TurretConstants.MAX_VELOCITY / TurretConstants.TURRET_RADIUS) * gearRatio; // max velocity * gear ratio - motionMagicConfigs.MotionMagicCruiseVelocity = Units.radiansToRotations(TurretConstants.MAX_ACCELERATION / TurretConstants.TURRET_RADIUS) * gearRatio; // max Acceleration * gear ratio + motionMagicConfigs.MotionMagicCruiseAcceleration = Units.radiansToRotations(TurretConstants.MAX_ACCELERATION / TurretConstants.TURRET_RADIUS) * gearRatio; // max Acceleration * gear ratio config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; motor.getConfigurator().apply(config); -- 2.39.5