From: mixxlto <maxtan0626@gmail.com>
Date: Mon, 19 Jan 2026 22:57:42 +0000 (-0800)
Subject: Update TurretAutoShoot.java
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=15a9d3ce6a172bf64a20e89783d02f8f08e5cc22;p=FRC2026.git

Update TurretAutoShoot.java
---

diff --git a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
index 9a97c6b..2d39427 100644
--- a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
+++ b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
@@ -73,8 +73,10 @@ public class TurretAutoShoot extends Command {
         updateYawToTag();
         if(turretVisionEnabled && turret.atSetPoint()){
             adjustWithTurretCam();
+            turret.setSetpoint(adjustedSetpoint, drivetrain.getAngularRate(2));
+        } else{
+            turret.setSetpoint(turretSetpoint, drivetrain.getAngularRate(2));
         }
-        turret.setSetpoint(turretSetpoint, drivetrain.getAngularRate(2));
     }
 
     @Override