text: // Copyright (c) FIRST and other WPILib contributors.
  // Open Source Software; you can modify and/or share it under the terms of
  // the WPILib BSD license file in the root directory of this project.
  
  #include "shooter/turret/TurretSubsystem.h"
  #include <frc2/command/ConditionalCommand.h>
  
  #include "shooter/turret/TurretFindCommand.h"
  #include "shooter/turret/TurretFollowCommand.h"
  
  TurretSubsystem::TurretSubsystem() {
    positionController.setMaxPosition(turretSubsystemConstants::maxPosition);
    positionController.setMinPosition(turretSubsystemConstants::minPosition);
    positionController.resetRefrence(0.0_tr);
  }
  
  // This method will be called once per scheduler run
  void TurretSubsystem::Periodic() {}
  
  void TurretSubsystem::spinTo(units::angle::radian_t pos) {
    positionController.setPosition(pos);
  }
  
  void TurretSubsystem::spinOffset(units::angle::radian_t offset) {
    positionController.spinOffset(offset);
  }
  
  units::angle::radian_t TurretSubsystem::getAngularPosition() const{
    return positionController.getPosition();
  }
  
  bool TurretSubsystem::isAtPosition(units::angle::radian_t pos) {
    return positionController.atPosition(pos);
  }
  