From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Fri, 13 Mar 2026 03:16:42 +0000 (-0700)
Subject: Update Superstructure.java
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=130967b5f5a3ee6427d95e36bfe145ff92f2694b;p=FRC2026.git

Update Superstructure.java
---

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index 5c48348..7a35cf6 100644
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -93,17 +93,11 @@ public class Superstructure extends Command {
 
         // Rotational adjustment is not being used, since turret is in center of robot
         double turretVelocityX =
-            fieldRelVel.vxMetersPerSecond
-                + fieldRelVel.omegaRadiansPerSecond
-                    * (TurretConstants.DISTANCE_FROM_ROBOT_CENTER.getY() * Math.cos(drivepose.getRotation().getRadians())
-                        - TurretConstants.DISTANCE_FROM_ROBOT_CENTER.getX() * Math.sin(drivepose.getRotation().getRadians()));
+            fieldRelVel.vxMetersPerSecond;
         double turretVelocityY =
-            fieldRelVel.vyMetersPerSecond
-                + fieldRelVel.omegaRadiansPerSecond
-                    * (TurretConstants.DISTANCE_FROM_ROBOT_CENTER.getX() * Math.cos(drivepose.getRotation().getRadians())
-                        - TurretConstants.DISTANCE_FROM_ROBOT_CENTER.getY() * Math.sin(drivepose.getRotation().getRadians()));
+            fieldRelVel.vyMetersPerSecond;
 
-        double timeOfFlight;
+        double timeOfFlight = 0;
         Pose2d lookaheadPose = turretPosition;
 
         /*
@@ -146,6 +140,10 @@ public class Superstructure extends Command {
         lastTurretAngle = turretAngle;
 
         Logger.recordOutput("Turret/Target Pose", target);
+        SmartDashboard.putNumber("Time of flight", timeOfFlight);
+        SmartDashboard.putNumber("Turret X-Velocity", turretVelocityX);
+        SmartDashboard.putNumber("Turret Y-Velocity", turretVelocityY);
+        
 
         Logger.recordOutput("Lookahead Pose", lookaheadPose);