From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Sat, 24 Jan 2026 23:53:52 +0000 (-0800)
Subject: fdsa
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=9790b7f9d5caa9c554b184eb72d279ce8ed64f5d;p=FRC2026.git

fdsa
---

diff --git a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
index b437dc9..e98abcd 100644
--- a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
+++ b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
@@ -48,7 +48,8 @@ public class TurretAutoShoot extends Command {
         double D_y;
         double D_x;
         if (SOTM) {
-            ChassisSpeeds chassisSpeed = drivetrain.getChassisSpeeds();
+            ChassisSpeeds robotRelVel = drivetrain.getChassisSpeeds();
+            fieldRelVel = ChassisSpeeds.fromRobotRelativeSpeeds(robotRelVel, drivetrain.getYaw());
             double xVel = chassisSpeed.vxMetersPerSecond;
             double yVel = chassisSpeed.vyMetersPerSecond;