Merge branch 'main' into some-fixes

diff --cc src/main/java/frc/robot/commands/gpm/Superstructure.java
index f47ca189e37b1fc88954c9a4f14af709f9800000,f5a11f52d018dce42f0a9234ad93da7e8dad6eca..54a4f66dc55dc360018c1ba150424fabac0f9e89
--- 1/src/main/java/frc/robot/commands/gpm/Superstructure.java
--- 2/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@@ -196,11 -198,11 +198,11 @@@ public class Superstructure extends Com
          ChassisSpeeds robotRelVel = drivetrain.getChassisSpeeds();
  
          // Add a phase delay extrapolation component for latency delay
 -        drivepose.exp(
 +        drivepose = drivepose.exp(
              new Twist2d(
-                 robotRelVel.vxMetersPerSecond * phaseDelay,
-                 robotRelVel.vyMetersPerSecond * phaseDelay,
-                 robotRelVel.omegaRadiansPerSecond * phaseDelay));
+                 robotRelVel.vxMetersPerSecond * phaseDelay.get(),
+                 robotRelVel.vyMetersPerSecond * phaseDelay.get(),
+                 robotRelVel.omegaRadiansPerSecond * phaseDelay.get()));
      }
  
      /**

diff --cc src/main/java/frc/robot/subsystems/shooter/Shooter.java
Simple merge