From: mixxlto <maxtan0626@gmail.com>
Date: Thu, 29 Jan 2026 22:50:06 +0000 (-0800)
Subject: 67
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=b84cae7cd480591e28392c7fa702f845cb22caaa;p=FRC2026.git

67
---

diff --git a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
index 52ecebf..69b2a84 100644
--- a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
+++ b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
@@ -65,6 +65,8 @@ public class TurretAutoShoot extends Command {
         double timeOfFlight;
         Pose2d lookaheadPose = turretPosition;
         double lookaheadTurretToTargetDistance = turretToTargetDistance;
+
+        // Loop (20) until lookahreadTurretToTargetDistance converges
         for (int i = 0; i < 20; i++) {
             timeOfFlight = ShotInterpolation.timeOfFlightMap.get(lookaheadTurretToTargetDistance);
             double offsetX = turretVelocityX * timeOfFlight;