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diff --git a/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java b/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
index 9c689e56668984dbbf06174e032e806781898b96..99597aca6ec7cc101ae2da02765f0be3a4d44bab 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
+++ b/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
@@ -88,7 +88,6 @@ public class AutoShootCommand extends Command {
         drivepose  = drivetrain.getPose();
 
         goalState = ShooterPhysics.getShotParams(
-                               new Translation2d(0, 0),
                                FieldConstants.getHubTranslation().minus(new Translation3d(drivepose.getTranslation())),
                                8.0);
         

diff --git a/src/main/java/frc/robot/util/ShooterPhysics.java b/src/main/java/frc/robot/util/ShooterPhysics.java
index 40fec43d30448fe3cc1ef3b3fcf0d87088ffb0fd..3c8dfb2ffcd2e03206a100e8109afa52f5e7007f 100644 (file)
--- a/src/main/java/frc/robot/util/ShooterPhysics.java
+++ b/src/main/java/frc/robot/util/ShooterPhysics.java
@@ -42,6 +42,10 @@ public class ShooterPhysics {
                return cvtShot(exitVel, height);
        }
 
+       public static TurretState getShotParams(Translation3d robotToTarget, double height) {
+               return getShotParams(new Translation2d(0, 0), robotToTarget, height);
+       }
+
        public static Optional<TurretState> getConstrainedParams(Translation2d robotVelocity, Translation3d robotToTarget,
                        Constraints constraints) {
                // establish a lower bound