From: mixxlto <maxtan0626@gmail.com>
Date: Thu, 22 Jan 2026 00:53:44 +0000 (-0800)
Subject: fdsa
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=6a6f55d1307dc33a8478b0aee13456cc83cae224;p=FRC2026.git

fdsa
---

diff --git a/src/main/java/frc/robot/commands/gpm/TurretJoyStickAim.java b/src/main/java/frc/robot/commands/gpm/TurretJoyStickAim.java
index 8be9b99..6c31a36 100644
--- a/src/main/java/frc/robot/commands/gpm/TurretJoyStickAim.java
+++ b/src/main/java/frc/robot/commands/gpm/TurretJoyStickAim.java
@@ -4,12 +4,12 @@ import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.controls.BaseDriverConfig;
+import frc.robot.controls.PS5ControllerDriverConfig;
 import frc.robot.subsystems.turret.Turret;
 
 public class TurretJoyStickAim extends Command{
     private Turret turret;
-    private BaseDriverConfig driver;
+    private PS5ControllerDriverConfig driver;
 
     public TurretJoyStickAim(Turret turret){
         this.turret = turret;
diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 8c15939..037efb8 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -92,12 +92,14 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
 
         driver.get(PS5Button.CROSS).onTrue(
             new InstantCommand(()->{
-                        turretAutoShoot = new TurretAutoShoot(turret, getDrivetrain());
-                        CommandScheduler.getInstance().schedule(turretAutoShoot);
+                        if (turretJoyStickAim == null || !turretJoyStickAim.isScheduled()){
+                            turretJoyStickAim = new TurretJoyStickAim(turret, this.driver);
+                            CommandScheduler.getInstance().schedule(turretAutoShoot);
+                        }
                     })
         ).onFalse(
             new InstantCommand(()->{
-                turretAutoShoot.cancel();
+                turretJoyStickAim.cancel();
             })
         );
     }