From b5a31afe526cc300c255e0e971ae66e231e611fa Mon Sep 17 00:00:00 2001 From: DanTheMan-byte Date: Sat, 24 Jan 2026 15:42:32 -0600 Subject: [PATCH] i need you @KeshavAnandCode --- .../java/org/firstinspires/ftc/teamcode/utils/Turret.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java index 3ddb14a..c830e89 100644 --- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java +++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java @@ -16,11 +16,11 @@ import java.util.List; @Config public class Turret { - public static double turretTolerance = 0.02; public static double turrPosScalar = 0.00011264432; public static double turret180Range = 0.4; public static double turrDefault = 0.4; + // TODO: tune these values for limelight public static double cameraBearingEqual = 1; public static double errorLearningRate = 0.15; public static double turrMin = 0.2; @@ -181,7 +181,7 @@ public class Turret { if (currentEncoderPos < (turrMin + clampTolerance) || currentEncoderPos > (turrMax - clampTolerance)) { // Clamp to servo range turretPos = Math.max(turrMin, Math.min(turretPos, turrMax)); - } else { + } else { // TODO: add so it only adds error when standstill if (tagBearingDeg != 1000.0 && Math.abs(tagBearingDeg) > cameraBearingEqual && !lockOffset) { // Slowly learn turret offset (persistent calibration) offset -= tagBearingDeg * errorLearningRate;