From: Arnav495 <arnieincyberland@gmail.com>
Date: Tue, 24 Feb 2026 23:56:56 +0000 (-0800)
Subject: Merge remote-tracking branch 'origin/main' into shooter-calcs
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=ad4eeaaa01a23295a4f1c38a09836bed227af026;p=FRC2026.git

Merge remote-tracking branch 'origin/main' into shooter-calcs
---

ad4eeaaa01a23295a4f1c38a09836bed227af026
diff --cc src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
index 7b0e834,e12d054..14583ba
--- a/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
+++ b/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
@@@ -107,14 -106,12 +107,14 @@@ public class AutoShootCommand extends C
           */
          for (int i = 0; i < 20; i++) {
              Translation3d lookahead3d = new Translation3d(lookaheadPose.getX(), lookaheadPose.getY(), TurretConstants.DISTANCE_FROM_ROBOT_CENTER.getZ());
-             Translation3d target3d = new Translation3d(target.getX(), target.getY(), FieldConstants.getHubTranslation().getZ()); // Add if statement so that it's only when it's shooting
+             Translation3d target3d = new Translation3d(target.getX(), target.getY(), FieldConstants.getHubTranslation().getZ());
 -            goalState = ShooterPhysics.getShotParams(
 +            var goalStateWithT = ShooterPhysics.getShotParamsWithT(
 +					Translation2d.kZero,
  				target3d.minus(lookahead3d),
  				2.0);
 +			goalState = goalStateWithT.getFirst();
  
 -            timeOfFlight = goalState.timeOfFlight();
 +            timeOfFlight = goalStateWithT.getSecond();
              double offsetX = turretVelocityX * timeOfFlight;
              double offsetY = turretVelocityY * timeOfFlight;
              lookaheadPose =