From eb7d1edf359f0fdda1640fc4f46e0f905976e865 Mon Sep 17 00:00:00 2001
From: DylanTaylor29 <132412179+DylanTaylor29@users.noreply.github.com>
Date: Thu, 12 Feb 2026 19:33:02 -0500
Subject: [PATCH 1/2] made everything but the turret a simulation

---
 src/main/java/frc/robot/Robot.java | 22 ++++++++++++----------
 1 file changed, 12 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index f3846ab..2d061f3 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -33,7 +33,6 @@
 import frc.robot.subsystems.drive.GyroIOBoron;
 import frc.robot.subsystems.drive.ModuleIO;
 import frc.robot.subsystems.drive.ModuleIOSimWPI;
-import frc.robot.subsystems.drive.ModuleIOTalonFX;
 import frc.robot.subsystems.feeder.Feeder;
 import frc.robot.subsystems.feeder.KickerIO;
 import frc.robot.subsystems.feeder.KickerIOSimSpark;
@@ -54,7 +53,6 @@
 import frc.robot.subsystems.launcher.TurretIOSpark;
 import frc.robot.subsystems.vision.Vision;
 import frc.robot.subsystems.vision.VisionIO;
-import frc.robot.subsystems.vision.VisionIOPhotonVision;
 import frc.robot.subsystems.vision.VisionIOPhotonVisionSim;
 import frc.robot.util.CanandgyroThread;
 import frc.robot.util.SparkOdometryThread;
@@ -116,18 +114,22 @@ public Robot() {
         drive =
             new Drive(
                 new GyroIOBoron(),
-                new ModuleIOTalonFX(DriveConstants.FrontLeft),
-                new ModuleIOTalonFX(DriveConstants.FrontRight),
-                new ModuleIOTalonFX(DriveConstants.BackLeft),
-                new ModuleIOTalonFX(DriveConstants.BackRight));
+                new ModuleIOSimWPI(DriveConstants.FrontLeft),
+                new ModuleIOSimWPI(DriveConstants.FrontRight),
+                new ModuleIOSimWPI(DriveConstants.BackLeft),
+                new ModuleIOSimWPI(DriveConstants.BackRight));
         vision =
             new Vision(
                 drive::addVisionMeasurement,
                 drive::getPose,
-                new VisionIOPhotonVision(cameraFrontRightName, robotToFrontRightCamera),
-                new VisionIOPhotonVision(cameraFrontLeftName, robotToFrontLeftCamera),
-                new VisionIOPhotonVision(cameraBackRightName, robotToBackRightCamera),
-                new VisionIOPhotonVision(cameraBackLeftName, robotToBackLeftCamera));
+                new VisionIOPhotonVisionSim(
+                    cameraFrontRightName, robotToFrontRightCamera, drive::getPose),
+                new VisionIOPhotonVisionSim(
+                    cameraFrontLeftName, robotToFrontLeftCamera, drive::getPose),
+                new VisionIOPhotonVisionSim(
+                    cameraBackRightName, robotToBackRightCamera, drive::getPose),
+                new VisionIOPhotonVisionSim(
+                    cameraBackLeftName, robotToBackLeftCamera, drive::getPose));
         launcher =
             new Launcher(
                 drive::getPose,

From 13143dd9f3fad6eff4f28e196e6ef71f47892dd5 Mon Sep 17 00:00:00 2001
From: nlaverdure <nate.laverdure@gmail.com>
Date: Thu, 12 Feb 2026 20:35:04 -0500
Subject: [PATCH 2/2] invert motor and update gear ratio

---
 .../frc/robot/subsystems/launcher/LauncherConstants.java    | 6 +++---
 .../java/frc/robot/subsystems/launcher/TurretIOSpark.java   | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java b/src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java
index 3afc659..499b3ff 100644
--- a/src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java
+++ b/src/main/java/frc/robot/subsystems/launcher/LauncherConstants.java
@@ -71,15 +71,15 @@ public static final class TurretConstants {
     // Geometry
     public static final Transform3d chassisToTurretBase =
         new Transform3d(Inches.of(0), Inches.of(10), Inches.of(22), Rotation3d.kZero);
-    public static final Rotation2d absEncoderOffset = new Rotation2d(0.5);
-    public static final Rotation2d mechanismOffset = Rotation2d.kCCW_Pi_2;
+    public static final Rotation2d absEncoderOffset = new Rotation2d(5.3);
+    public static final Rotation2d mechanismOffset = Rotation2d.k180deg;
     public static final Angle rangeOfMotion = Degrees.of(240);
 
     // Position controller
     public static final double kPReal = 0.5;
 
     // Motor controller
-    public static final double motorReduction = 5.0;
+    public static final double motorReduction = 9.0 * 72.0 / 12.0;
     public static final AngularVelocity maxAngularVelocity =
         NEO550Constants.kFreeSpeed.div(motorReduction);
     public static final double encoderPositionFactor = (2 * Math.PI) / motorReduction; // Radians
diff --git a/src/main/java/frc/robot/subsystems/launcher/TurretIOSpark.java b/src/main/java/frc/robot/subsystems/launcher/TurretIOSpark.java
index 0272157..325c817 100644
--- a/src/main/java/frc/robot/subsystems/launcher/TurretIOSpark.java
+++ b/src/main/java/frc/robot/subsystems/launcher/TurretIOSpark.java
@@ -57,7 +57,7 @@ public TurretIOSpark() {
     var turnConfig = new SparkMaxConfig();
 
     turnConfig
-        .inverted(false)
+        .inverted(true)
         .idleMode(IdleMode.kBrake)
         .smartCurrentLimit(NEO550Constants.kDefaultSupplyCurrentLimit)
         .voltageCompensation(RobotConstants.kNominalVoltage);