From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Tue, 24 Feb 2026 03:22:46 +0000 (-0800)
Subject: builds now
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=43d70ad00c715cf83af8a6ba68daf93c60db97aa;p=FRC2026.git

builds now
---

diff --git a/src/main/java/frc/robot/util/PhaseManager.java b/src/main/java/frc/robot/util/PhaseManager.java
index b63e1e9..a62b290 100644
--- a/src/main/java/frc/robot/util/PhaseManager.java
+++ b/src/main/java/frc/robot/util/PhaseManager.java
@@ -33,12 +33,12 @@ public class PhaseManager {
 
     private void updateCurrentState(Pose2d drivePose, Shooter shooter, Turret turret) {
         // if shooter is not trying to run -- idle
-        if (shooter.getTargetVelocityMPS() == 0.0) {
+        if (shooter.getTargetVelocity() == 0.0) {
             currentState = CurrentState.IDLE;
             return;
         }
         // if shooter velocity not ready yet -- starting up
-        if (!shooter.atTargetVelocity()) { // TODO: but then what happens when the ball goes in and the velocity dips??
+        if (!shooter.atTargetSpeed()) { // TODO: but then what happens when the ball goes in and the velocity dips??
             currentState = CurrentState.STARTING_UP;
             return;
         }