Update TurretAutoShoot.java

diff --git a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
index 9a97c6b79b26a8f1ee667179a70dcee7bd0243f1..2d394272b5fc413f5c50cc0b51e04486c2fea63a 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
+++ b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
@@ -73,8 +73,10 @@ public class TurretAutoShoot extends Command {
         updateYawToTag();
         if(turretVisionEnabled && turret.atSetPoint()){
             adjustWithTurretCam();
+            turret.setSetpoint(adjustedSetpoint, drivetrain.getAngularRate(2));
+        } else{
+            turret.setSetpoint(turretSetpoint, drivetrain.getAngularRate(2));
         }
-        turret.setSetpoint(turretSetpoint, drivetrain.getAngularRate(2));
     }
 
     @Override