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After modifying offset, it moves turret to the updated position using the offset.
codeNinja-1
requested changes
Mar 20, 2026
| public Command modifyOffsetAngle(Angle amount){ | ||
| return runOnce( | ||
| () -> { | ||
| manualOffset = manualOffset.plus(amount); |
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You can just set manual offset to amount instead of adding them. Otherwise it would be hard to restore the original shooting settings.
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Also change the name of this method to setOffsetAngle once this is done.
| * @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 @@ | |||
| { | |||
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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.
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Added manual offset and refresh to adjust position for accuracy. It is a manual turret correction