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Castor2026
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HOMEEEEEEEEEEEEEEEE

This commit is contained in:
Team578 Driver Station 2026-04-17 18:40:16 -04:00
parent 1280197ccf
commit 3f01a07548
1 changed files with 28 additions and 21 deletions
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9
src/main/java/frc/robot/subsystems/TurretSubsystem.java
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@ -203,8 +203,12 @@ public class TurretSubsystem extends TestableSubsystem {
@Override
public void periodic() {
if(turretState == TurretState.HOMING)
{
while(turretState != TurretState.READY)
{
long start = System.currentTimeMillis();
while(System.currentTimeMillis()-1000<start)
{
if(turretLimitSwitch.get())
{ // Turret has tripped the switch
@ -229,6 +233,9 @@ public class TurretSubsystem extends TestableSubsystem {
// setTurretMotorRotation(-0.34); // Return to 0 after MIAMI VALLEY
}
}
turretMotor.set((turretMotor.get()*-1));
}
}
if(LOGGING)
{