shhhtufff

src/main/java/frc4388/robot/subsystems/Turret.java

@@ -7,7 +7,7 @@ package frc4388.robot.subsystems;
 import com.revrobotics.CANSparkMax.ControlType;
 import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMax.SoftLimitDirection;
-
+import com.revrobotics.SparkMaxRelativeEncoder.Type;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkMaxLimitSwitch;
@@ -56,10 +56,12 @@ public class Turret extends SubsystemBase {
 
     m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ShooterConstants.TURRET_FORWARD_LIMIT);
     m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ShooterConstants.TURRET_REVERSE_LIMIT);
-    setTurretSoftLimits(false);
+    setTurretSoftLimits(true);
 
     m_boomBoomRotateMotor.setInverted(true);
 
+    // m_boomBoomRotateMotor.getAlternateEncoder(4096).setPosition(0);
+
     m_boomBoomRotatePIDController.setP(m_shooterTGains.kP);
     m_boomBoomRotatePIDController.setI(m_shooterTGains.kI);
     m_boomBoomRotatePIDController.setD(m_shooterTGains.kD);
@@ -71,6 +73,7 @@ public class Turret extends SubsystemBase {
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
+    SmartDashboard.putNumber("Turret Angle", m_boomBoomRotateEncoder.getPosition());
   }
 
   /**
@@ -89,7 +92,6 @@ public class Turret extends SubsystemBase {
 
   public void runTurretWithInput(double input) {
     m_boomBoomRotateMotor.set(input * ShooterConstants.TURRET_SPEED_MULTIPLIER);
-    SmartDashboard.putNumber("Turret Angle", m_boomBoomRotateMotor.getAlternateEncoder(1024).getPosition());
   }
 
   public void runshooterRotatePID(double targetAngle) {
@@ -102,10 +104,12 @@ public class Turret extends SubsystemBase {
   }
 
   public double getboomBoomRotatePosition() {
+    // return 0.0;
     return m_boomBoomRotateEncoder.getPosition();
   }
 
   public double getBoomBoomAngleDegrees() {
+    // return 0.0;
     return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360
         / ShooterConstants.TURRET_MOTOR_ROTS_PER_ROT;
   }