From: mixxlto <maxtan0626@gmail.com>
Date: Thu, 12 Feb 2026 08:23:49 +0000 (-0800)
Subject: k
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=8b1fe0c43267951d4187087f6d3327441dded4c1;p=FRC2026.git

k
---

diff --git a/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java b/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
index 9c689e5..99597ac 100644
--- a/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
+++ b/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
@@ -88,7 +88,6 @@ public class AutoShootCommand extends Command {
         drivepose  = drivetrain.getPose();
 
         goalState = ShooterPhysics.getShotParams(
-				new Translation2d(0, 0),
 				FieldConstants.getHubTranslation().minus(new Translation3d(drivepose.getTranslation())),
 				8.0);
         
diff --git a/src/main/java/frc/robot/util/ShooterPhysics.java b/src/main/java/frc/robot/util/ShooterPhysics.java
index 40fec43..3c8dfb2 100644
--- a/src/main/java/frc/robot/util/ShooterPhysics.java
+++ b/src/main/java/frc/robot/util/ShooterPhysics.java
@@ -42,6 +42,10 @@ public class ShooterPhysics {
 		return cvtShot(exitVel, height);
 	}
 
+	public static TurretState getShotParams(Translation3d robotToTarget, double height) {
+		return getShotParams(new Translation2d(0, 0), robotToTarget, height);
+	}
+
 	public static Optional<TurretState> getConstrainedParams(Translation2d robotVelocity, Translation3d robotToTarget,
 			Constraints constraints) {
 		// establish a lower bound