From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Fri, 27 Feb 2026 23:28:48 +0000 (-0800)
Subject: Merge branch 'week-0-comp' of https://github.com/iron-claw-972/FRC2026 into week... 
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=af4a6151ff8f4fb540185c1ec8e97af5696c9ff5;p=FRC2026.git

Merge branch 'week-0-comp' of https://github.com/iron-claw-972/FRC2026 into week-0-comp
---

af4a6151ff8f4fb540185c1ec8e97af5696c9ff5
diff --cc src/main/java/frc/robot/commands/gpm/Superstructure.java
index 72aa526,9567be4..7e55227
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@@ -120,13 -116,14 +119,16 @@@ public class Superstructure extends Com
                  target == FieldConstants.getHubTranslation().toTranslation2d() ?
                  FieldConstants.getHubTranslation().getZ() : 0.0); // Height of 0 if it's not the hub
  
-             goalState = ShooterPhysics.getShotParams(
+             var goalStateWithT = ShooterPhysics.getShotParamsWithT(
+ 					Translation2d.kZero,
  				target3d.minus(lookahead3d),
                  target == FieldConstants.getHubTranslation().toTranslation2d() ?
 -				2.0 : 3.0);
 -			goalState = goalStateWithT.getFirst();
 +				2.0 : 5.0);
++            
++            goalState = goalStateWithT.getFirst();
  
 -            timeOfFlight = goalStateWithT.getSecond();
 +            double TOFAdjustment = 0.75;
-             timeOfFlight = goalState.timeOfFlight() * TOFAdjustment;
++            timeOfFlight = goalStateWithT.getSecond() * TOFAdjustment;
              double offsetX = turretVelocityX * timeOfFlight;
              double offsetY = turretVelocityY * timeOfFlight;
              lookaheadPose =
diff --cc src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 6041c96,2597c8c..7818fa7
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@@ -16,10 -16,12 +16,13 @@@ import frc.robot.commands.gpm.AutoShoot
  import frc.robot.commands.gpm.ClimbDriveCommand;
  import frc.robot.commands.gpm.IntakeMovementCommand;
  import frc.robot.commands.gpm.ReverseMotors;
 +import frc.robot.commands.gpm.Superstructure;
  import frc.robot.constants.Constants;
  import frc.robot.subsystems.Climb.LinearClimb;
+ import frc.robot.subsystems.Intake.Intake;
  import frc.robot.subsystems.drivetrain.Drivetrain;
+ import frc.robot.subsystems.hood.Hood;
+ import frc.robot.subsystems.hood.HoodConstants;
  import frc.robot.subsystems.shooter.Shooter;
  import frc.robot.subsystems.spindexer.Spindexer;
  import frc.robot.subsystems.turret.Turret;
diff --cc src/main/java/frc/robot/subsystems/turret/Turret.java
index e589622,10d26ba..69969eb
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@@ -120,12 -122,9 +122,13 @@@ public class Turret extends SubsystemBa
  		double motorRotations = turretRot * TurretConstants.GEAR_RATIO;
  
  		//Sets the initial motor position
+ 		inputs.positionDeg = turretRot;
  		motor.setPosition(motorRotations);
  
 +		//motor.setPosition(Units.degreesToRotations(238.86) * TurretConstants.GEAR_RATIO);
 +
 +		motor.setPosition(0.0);
 +
  		SmartDashboard.putData("Turn to 0", new InstantCommand(()->{setFieldRelativeTarget(Rotation2d.fromDegrees(0), 0.0);}));
  		SmartDashboard.putData("Turn to -90", new InstantCommand(()->{setFieldRelativeTarget(Rotation2d.fromDegrees(-90), 0.0);}));
  		SmartDashboard.putData("Turn to 90", new InstantCommand(()->{setFieldRelativeTarget(Rotation2d.fromDegrees(90), 0.0);}));