turret again again #35
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chaoticthegreat
requested changes
Jan 24, 2026
… into turret-3 # Conflicts: # src/main/java/frc/robot/RobotContainer.java
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how did this pr not even get labelled what |
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made the changes |
chaoticthegreat
requested changes
Jan 25, 2026
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| private double reqPosition = 0.0; | ||
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| private final PIDController turretRotationController = |
| LoggedTracer.record("Turret"); | ||
| } | ||
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| public Command setPosition(Rotation2d position) { |
| return setPosition(() -> position); | ||
| } | ||
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| public Command setPosition(Supplier<Rotation2d> position) { |
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double instead of Rot2D
| return turretIOInputsAutoLogged.turretMotorVoltage; | ||
| } | ||
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| public Command trackTarget(ShotCalculator calc) { |
| position.minus(swerve.getState().Pose.getRotation()).getRotations())); | ||
| } | ||
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| public double getPosition() { |
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you can add it later if another func needs it but rn I don't think anything uses it
| return this.run(() -> turretIO.setVoltage(voltage)); | ||
| } | ||
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| public double getVoltage() { |
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you can add it later if another func needs it but rn I don't think anything uses it
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| public static double updateFrequency = 50; | ||
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| public static final double trackingP = 0.0; |
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get rid of all these tracking PID consants
| /* public static final Distance turretLength = Inches.of(24); | ||
| public static final Mass turretMass = Kilograms.of(1); | ||
| public static final double jkGMetersSquared = .5; */ | ||
| /* |
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just remove the commented out stuff
| DCMotor.getKrakenX60(1), | ||
| TurretConstants.TurretSim.turretSimGearing, | ||
| TurretConstants.TurretSim.jkGMetersSquared, | ||
| TurretConstants.TurretSim.turretLength.in(Meters), |
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remove commented out things
| } | ||
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| private void configureOperatorBinds() { | ||
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dont bind anything, theres still superstruct to do
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