From 70ca5b814a7cfdaa5e808e86338a4e77e8893bb8 Mon Sep 17 00:00:00 2001
From: KeshavAnandCode <keshavanandofficial@gmail.com>
Date: Sun, 11 Jan 2026 15:54:22 -0600
Subject: [PATCH] daniel

---
 .../ftc/teamcode/teleop/TeleopV2.java           | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
index 443468c..67ea79d 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV2.java
@@ -350,15 +350,28 @@ public class TeleopV2 extends LinearOpMode {
                     overrideTurr = true;
                     turretPos = servo.getTurrPos() - (bearing/1300);
                     TELE.addData("Bear", bearing);
-                    if (camTicker < 8){
-                        error += bearing/1300; //adds error in first 8 frames of seeing the tag to see how much to adjust the default pos
+
+                    double bearingCorrection = bearing / 1300;
+
+
+                    // deadband: ignore tiny noise
+                    if (Math.abs(bearing) > 0.3 && camTicker < 8) {
+
+                        // only accumulate if bearing direction is consistent
+                        if (Math.signum(bearingCorrection) == Math.signum(error) || error == 0) {
+                            error += bearingCorrection;
+                        }
                     }
+
                     camTicker++;
+
                 }
 
 
             } else {
                 camTicker = 0;
+                overrideTurr = false;
+
             }
 
             if (manualTurret) {