From: iefomit <timofei.stem@gmail.com>
Date: Mon, 16 Feb 2026 18:21:15 +0000 (-0800)
Subject: improve initialization
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=59921911ffc1a7b5eaf3c0c18f92d6cf35bda7d2;p=FRC2026.git

improve initialization
---

diff --git a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
index 9083b86..9a72985 100644
--- a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
+++ b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
@@ -27,7 +27,7 @@ public class TurretAutoShoot extends Command {
 
     private double turretSetpoint;
 
-    private Pose2d drivepose;
+    private Pose2d drivepose = new Pose2d();
 
     private final LinearFilter turretAngleFilter = LinearFilter.movingAverage((int) (0.1 / Constants.LOOP_TIME));
     private Rotation2d lastTurretAngle;
@@ -38,7 +38,6 @@ public class TurretAutoShoot extends Command {
     public TurretAutoShoot(Turret turret, Drivetrain drivetrain) {
         this.turret = turret;
         this.drivetrain = drivetrain;
-        drivepose  = new Pose2d(drivepose.getTranslation(), drivepose.getRotation().plus(new Rotation2d(Math.PI)));
         
         addRequirements(turret);
     }