From: mixxlto <maxtan0626@gmail.com>
Date: Mon, 19 Jan 2026 06:12:45 +0000 (-0800)
Subject: Update Turret.java
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=9682c379e33af747c73a55fa8e9831a83111fe53;p=FRC2026.git

Update Turret.java
---

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index be1915a..332d18f 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -181,7 +181,7 @@ public class Turret extends SubsystemBase {
         Translation2d drivepose = drivetrain.getPose().getTranslation();
         // Using tag #??
         int tagNumber = 17;
-        Translation2d tagpose = FieldConstants.APRIL_TAGS.get(tagNumber - 1).pose.toPose2d().getTranslation();
+        Translation2d tagpose = FieldConstants.field.getTagPose(tagNumber ).get().toPose2d().getTranslation();
         double D_y = tagpose.getY() - drivepose.getY();
         double D_x = tagpose.getX() - drivepose.getX();
         double angleRad = Math.atan2(D_y, D_x);