a

diff --git a/src/main/java/frc/robot/commands/gpm/SimpleAutoShoot.java b/src/main/java/frc/robot/commands/gpm/SimpleAutoShoot.java
index b0bb36eb5a6a2dc97b9e1bac91e5289f25187ede..899a51e4b536beb8321af83bdc492b291e8ee053 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/SimpleAutoShoot.java
+++ b/src/main/java/frc/robot/commands/gpm/SimpleAutoShoot.java
@@ -12,6 +12,7 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.units.Unit;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Robot;
 import frc.robot.constants.Constants;
@@ -124,6 +125,7 @@ public class SimpleAutoShoot extends Command {
 
     @Override
     public void execute() {
+        SmartDashboard.putNumber("Robot X Position", drivepose.getX());
         //shooter.setShooterPower(ShotInterpolation.shooterPowerMap.get(FieldConstants.getHubTranslation().toTranslation2d().getDistance(drivetrain.getPose().getTranslation())));
         // Continuously update setpoints and adjust based on vision if available
         drivepose = drivetrain.getPose().getTranslation();

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 8cbefe5b2ceee5988dd8a72fca15b7d3afa6c894..0954052c452b6def97b58b2928b6e82ea3ebf610 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -46,7 +46,7 @@ public class Turret extends SubsystemBase implements TurretIO{
        //private static final PIDController longVelocityPID = new PIDController(15, 0, 1.0);
        private static final PIDController velocityPID = new PIDController(0.0, 0.0, 0.0);
 
-       private final LinearFilter setpointFilter = LinearFilter.singlePoleIIR(0.2
+       private final LinearFilter setpointFilter = LinearFilter.singlePoleIIR(0.02
        , 0.02);