commit f70e8e112d2a2dc64381e0dcb315bff85e6e1f49
author milind-u <milind.upadhyay@gmail.com> Sat Oct 02 12:36:00 2021 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Oct 02 20:55:02 2021 -0700
tree bafc986420fa26e81cf6a77404bfafce8ec5d944
parent 6ceb40e5daa44a0b2eecfb9d98791054d7ef23f7

Update turret gear ratio and tuned controller

Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Change-Id: Ibc6a255c866c77af7d909e311217398f3bf26135
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2020/wpilib_interface.cc

diff --git a/y2020/wpilib_interface.cc b/y2020/wpilib_interface.cc
index 3e91d1e..bdc16fa 100644
--- a/y2020/wpilib_interface.cc
+++ b/y2020/wpilib_interface.cc
@@ -456,7 +456,7 @@
                    kMaxBringupPower) /
             12.0);
 
-    turret_victor_->SetSpeed(std::clamp(-output.turret_voltage(),
+    turret_victor_->SetSpeed(std::clamp(output.turret_voltage(),
                                         -kMaxBringupPower, kMaxBringupPower) /
                              12.0);