From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Sat, 14 Feb 2026 18:15:54 +0000 (-0800)
Subject: a
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=6d0e2e08b21153d0e9f8645e94199cfd3fdb0f9c;p=FRC2026.git

a
---

diff --git a/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java b/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
index bdd01ed..9ea32a2 100644
--- a/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
+++ b/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
@@ -88,7 +88,7 @@ public class AutoShootCommand extends Command {
         this.shooter = shooter;
         this.spindexer = spindexer;
         //drivepose  = drivetrain.getPose();
-        drivepose  = drivetrain.getPose().rotateBy(new Rotation2d(Math.PI)); // TODO: Revert when robot isn't backwards 
+        drivepose  = new Pose2d(drivepose.getTranslation(), drivepose.getRotation().plus(new Rotation2d(Math.PI)));
 
         goalState = ShooterPhysics.getShotParams(
 				FieldConstants.getHubTranslation().minus(new Translation3d(drivepose.getTranslation())),
@@ -173,8 +173,14 @@ public class AutoShootCommand extends Command {
     }
 
     public void updateDrivePose(){
+        Pose2d currentPose = drivetrain.getPose();
+        // Add 180 degrees to the rotation bc robot is backwards
+        drivepose = new Pose2d(
+            currentPose.getTranslation(), 
+            currentPose.getRotation().plus(new Rotation2d(Math.PI))
+        );
         ChassisSpeeds robotRelVel = drivetrain.getChassisSpeeds();
-        drivepose = drivetrain.getPose().exp(
+        drivepose.exp(
             new Twist2d(
                 robotRelVel.vxMetersPerSecond * phaseDelay,
                 robotRelVel.vyMetersPerSecond * phaseDelay,
diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index b6e2ecc..4d0d371 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -49,11 +49,11 @@ public class Turret extends SubsystemBase implements TurretIO{
 
 	/* ---------------- Constants ---------------- */
 
-	private static final double MIN_ANGLE_RAD = Units.degreesToRadians(-90); // Change this later to the actual values
-	private static final double MAX_ANGLE_RAD = Units.degreesToRadians(90);
+	private static final double MIN_ANGLE_RAD = Units.degreesToRadians(-180); // Change this later to the actual values
+	private static final double MAX_ANGLE_RAD = Units.degreesToRadians(180);
 
-	//private static final double MAX_VEL_RAD_PER_SEC = 25;
-	private static final double MAX_VEL_RAD_PER_SEC = 3.0; // Starting super duper slow for now
+	private static final double MAX_VEL_RAD_PER_SEC = 25;
+	//private static final double MAX_VEL_RAD_PER_SEC = 3.0; // Starting super duper slow for now
 	private static final double MAX_ACCEL_RAD_PER_SEC2 = 160.0;
 
 	private static final double GEAR_RATIO = TurretConstants.TURRET_GEAR_RATIO;