Fix turret setpoint wraparound for asymmetric operating ranges - #195
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TurretIOSpark computed the modulus center inline; extract it into CENTER_RAD so both it and TurretIOSimSpark derive the wrap window from the same source. TurretIOSimSpark was still using the old hardcoded [0, 2*pi) wrap, which breaks for any operating range that isn't [0, 360) - bring it in line with the real IO's centered window. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Always zero, and layered on top of ABS_ENCODER_OFFSET in a way that was hazardous rather than useful: it cancelled out of every reported position, but shifted the soft limits away from true forward if ever set nonzero, with nothing visible to indicate the mismatch. ABS_ENCODER_OFFSET is the single source of truth for where forward is. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Explain the forward/CCW angle convention, what ABS_ENCODER_OFFSET calibrates and how to redo it, the meaning and constraint on the soft limits, and that CENTER_RAD is derived rather than hand-set. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
BenGamer3
approved these changes
Aug 5, 2026
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Summary
-280 degto30 deg). The oldinputModulus(x, 0, 2*pi)folded any negative setpoint onto the same clamped value, and the one-time relative-encoder seed could land in a different 2*pi epoch than the commanded setpoints, both of which caused the turret to take the long way around (up to a full extra revolution) instead of the short path to target.CENTER_RADconstant shared betweenTurretIOSparkandTurretIOSimSpark, and brings the sim IO (previously still on the old[0, 2*pi)wrap) in line with the real one.MECHANISM_OFFSET, a second always-zero rotation offset that duplicatedABS_ENCODER_OFFSET's job and, if ever set nonzero, would have silently shifted the soft limits away from true forward without affecting reported position - a hazard with no upside.ABS_ENCODER_OFFSETcalibrates and how to redo it, and the constraint the operating range must satisfy, so future reclocking doesn't require re-deriving this from the control math.Test plan
-280/30range with no phantom encoder jumps.-280 degto30 degrange end-to-end once the reported mechanical binding is resolved.TurretIOSimSpark) still initializes and tracks correctly with the centered wrap window.🤖 Generated with Claude Code