Fix Sentry issue due to no encoder

ut-ras · Feb 1, 2025 · 0591e79 · 0591e79
1 parent 2f30dcd
commit 0591e79
Showing 1 changed file with 12 additions and 4 deletions.
diff --git a/ut-robomaster/src/subsystems/turret/turret_subsystem.cpp b/ut-robomaster/src/subsystems/turret/turret_subsystem.cpp
@@ -29,22 +29,30 @@ void TurretSubsystem::initialize()
 
 void TurretSubsystem::refresh()
 {
-#if defined(TARGET_STANDARD) || defined(TARGET_HERO)
-    yawEncoder.update();
-#endif
-
     setAmputated(!hardwareOk());
 
     yaw.updateMotorAngle();
     pitch.updateMotorAngle();
 
+#if defined(TARGET_STANDARD) || defined(TARGET_HERO)
+    yawEncoder.update();
+
     if (!isCalibrated && !isAmputated() && yawEncoder.isOnline())
     {
         baseYaw = yawEncoder.getAngle() - YAW_OFFSET - yaw.getAngle();
         isCalibrated = true;
 
         setTargetWorldAngles(getCurrentLocalYaw() + getChassisYaw(), getCurrentLocalPitch());
     }
+#else
+    if (!isCalibrated && !isAmputated())
+    {
+        baseYaw = -YAW_OFFSET;
+        isCalibrated = true;
+
+        setTargetWorldAngles(getCurrentLocalYaw() + getChassisYaw(), getCurrentLocalPitch());
+    }
+#endif
 
     if (isCalibrated && !drivers->isKillSwitched() && !isAmputated())
     {