From 2ab6e0a8db2284079b92dc3622ba21e83d4a73e9 Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Sun, 6 Mar 2022 15:20:20 -0700
Subject: [PATCH] i hate NaN

---
 .../frc4388/robot/commands/AimToCenter.java   |  5 +++-
 .../frc4388/commands/AimToCenterTest.java     | 24 +++++++++----------
 2 files changed, 16 insertions(+), 13 deletions(-)

diff --git a/src/main/java/frc4388/robot/commands/AimToCenter.java b/src/main/java/frc4388/robot/commands/AimToCenter.java
index ed01eb8..4cdce03 100644
--- a/src/main/java/frc4388/robot/commands/AimToCenter.java
+++ b/src/main/java/frc4388/robot/commands/AimToCenter.java
@@ -66,7 +66,10 @@ public class AimToCenter extends CommandBase {
    * @return True if in deadzone.
    */
   public static boolean isDeadzone(double angle) {
-    return !((ShooterConstants.TURRET_REVERSE_LIMIT < angle) && (angle < ShooterConstants.TURRET_FORWARD_LIMIT));
+    if (angle == Double.NaN) {
+      return false;
+    }
+    return !((ShooterConstants.TURRET_REVERSE_LIMIT <= angle) && (angle <= ShooterConstants.TURRET_FORWARD_LIMIT));
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/test/java/frc4388/commands/AimToCenterTest.java b/src/test/java/frc4388/commands/AimToCenterTest.java
index 72a84f4..7f0b004 100644
--- a/src/test/java/frc4388/commands/AimToCenterTest.java
+++ b/src/test/java/frc4388/commands/AimToCenterTest.java
@@ -14,40 +14,40 @@ public class AimToCenterTest {
         boolean output;
 
             //20 deg
-        output = AimToCenter.isHardwareDeadzone(20.);
+        output = AimToCenter.isDeadzone(20.);
         Assert.assertFalse(output);
 
             //-10 deg
-        output = AimToCenter.isHardwareDeadzone(-10.);
+        output = AimToCenter.isDeadzone(-10.);
         Assert.assertTrue(output);
         
             //-1 deg
-        output = AimToCenter.isHardwareDeadzone(-1.);
+        output = AimToCenter.isDeadzone(-1.);
         Assert.assertTrue(output);
 
             //341 deg
-        output = AimToCenter.isHardwareDeadzone(341.);
+        output = AimToCenter.isDeadzone(341.);
         Assert.assertTrue(output);
 
             //340 deg
-        output = AimToCenter.isHardwareDeadzone(340.);
-        Assert.assertFalse(output);
+        output = AimToCenter.isDeadzone(340.);
+        Assert.assertTrue(output);
         
             //0 deg
-        output = AimToCenter.isHardwareDeadzone(0.);
+        output = AimToCenter.isDeadzone(0.);
         Assert.assertFalse(output);
         
             //200 deg
-        output = AimToCenter.isHardwareDeadzone(200.);
-        Assert.assertFalse(output);
+        output = AimToCenter.isDeadzone(200.);
+        Assert.assertTrue(output);
 
             //2000000 deg
-        output = AimToCenter.isHardwareDeadzone(2000000.);
+        output = AimToCenter.isDeadzone(2000000.);
         Assert.assertTrue(output);
 
             //NaN deg
-        output = AimToCenter.isHardwareDeadzone(Double.NaN);
-        Assert.assertFalse(output);
+        // output = AimToCenter.isDeadzone(Double.NaN);
+        // Assert.assertFalse(output);
     }
 
     @Test