turret deadzone

src/main/java/frc4388/robot/commands/AimToCenter.java

@@ -61,21 +61,12 @@ public class AimToCenter extends CommandBase {
   }
 
   /**
-   * Checks if in hardware deadzone (due to mechanical limitations).
+   * Checks if in deadzone.
    * @param angle Angle to check.
-   * @return True if in hardware deadzone.
+   * @return True if in deadzone.
    */
-  public static boolean isHardwareDeadzone(double angle) {
-    return ((ShooterConstants.HARD_DEADZONE_LEFT > angle) || (angle > ShooterConstants.HARD_DEADZONE_RIGHT));
-  }
-
-  /**
-   * Checks if in digital deadzone (due to climber).
-   * @param angle Angle to check.
-   * @return True if in digital deadzone.
-   */
-  public static boolean isDigitalDeadzone(double angle) {
-    return ((ShooterConstants.DIG_DEADZONE_LEFT < angle) && (angle < ShooterConstants.DIG_DEADZONE_RIGHT));
+  public static boolean isDeadzone(double angle) {
+    return !((ShooterConstants.TURRET_REVERSE_LIMIT < angle) && (angle < ShooterConstants.TURRET_FORWARD_LIMIT));
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc4388/robot/commands/Shoot.java

@@ -120,14 +120,7 @@ public class Shoot extends CommandBase {
     m_targetAngle = ((Math.atan2(m_odoY, m_odoX) * (180./Math.PI) - m_gyroAngle) + 180. + 360.) % 360.;
 
     // deadzone processing
-    if (AimToCenter.isHardwareDeadzone(m_targetAngle)) {
-      m_targetAngle = m_targetAngle + 20;
-    }
-
-    if (AimToCenter.isDigitalDeadzone(m_targetAngle)) {
-      // this should rotate the entire swerve drive by 20 degrees, so shoot can now proceed like normal. idk if this will work
-      m_swerve.driveWithInput(0, 0, Math.cos(m_gyroAngle + 20), Math.sin(m_gyroAngle + 20), true);
-    }
+    if (AimToCenter.isDeadzone(m_targetAngle)) {}
     
     // initial error
     updateError();