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After modifying offset, it moves turret to the updated position using the offset.
codeNinja-1
requested changes
Mar 20, 2026
| operator | ||
| .axisLessThan(Axis.kRightX.value, -0.5) | ||
| .and(() -> fineControl) | ||
| .onTrue(this.robot.getTurret().modifyOffsetAngle(Degrees.of(3))); |
Collaborator
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We want these offsets to be roughly proportional to the joystick position, now just ±3 if the magnitudes of the joystick values are greater than 0.5.
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I changed the line temporarily to:
.onTrue(this.robot.getTurret().modifyOffsetAngle(Degrees.of(operator.getRawMagnitude(Axis.kRight.value)*-2)));
I don't know the code for finding the position of the joystick
| * @return a Command that, while scheduled, continuously moves the turret toward the supplied | ||
| * target angle while attempting to maintain the supplied target velocity | ||
| */ | ||
| public Command track( |
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Add the offset to track().
| @@ -1,9 +1,19 @@ | |||
| { | |||
Collaborator
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Undo changes to this file. It's a configuration that we just want to leave the same.
| .axisLessThan(Axis.kRightX.value, -0.5) | ||
| .and(() -> fineControl) | ||
| .onTrue(this.robot.getTurret().modifyOffsetAngle(Degrees.of(3))); | ||
|
|
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We also need to be able to offset the hood.
Still some major issues, but it's an improvement
we had to change the return type of setOffsetAngle to void instead of Command so that it constantly updates the input parameter newOffset
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Added manual offset and refresh to adjust position for accuracy. It is a manual turret correction