fdsa

diff --git a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
index b437dc9b2d7135397027e9f3a9b1731ef1f41576..e98abcd9e7454e0140f7ce2c4bb9fc21a358d292 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
+++ b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
@@ -48,7 +48,8 @@ public class TurretAutoShoot extends Command {
         double D_y;
         double D_x;
         if (SOTM) {
-            ChassisSpeeds chassisSpeed = drivetrain.getChassisSpeeds();
+            ChassisSpeeds robotRelVel = drivetrain.getChassisSpeeds();
+            fieldRelVel = ChassisSpeeds.fromRobotRelativeSpeeds(robotRelVel, drivetrain.getYaw());
             double xVel = chassisSpeed.vxMetersPerSecond;
             double yVel = chassisSpeed.vyMetersPerSecond;