From: mixxlto <maxtan0626@gmail.com>
Date: Wed, 21 Jan 2026 06:22:25 +0000 (-0800)
Subject: Update TurretAutoShoot.java
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=d22ce21b981db5e4ae0bc5d8aced0e7d02365ccc;p=FRC2026.git

Update TurretAutoShoot.java
---

diff --git a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
index dab7bb3..67c737b 100644
--- a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
+++ b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
@@ -36,7 +36,7 @@ public class TurretAutoShoot extends Command {
         double D_y = target.getY() - drivepose.getY();
         double D_x = target.getX() - drivepose.getX();
         fieldAngleRad = Math.atan2(D_y, D_x);
-        double robotHeading = MathUtil.angleModulus((drivetrain.getYaw().getRadians()));
+        double robotHeading = MathUtil.angleModulus((drivetrain.getYaw().getRadians() + Math.PI)); // Add 180 because drivetrain is backwards
         turretSetpoint = MathUtil.inputModulus(Units.radiansToDegrees(fieldAngleRad - robotHeading), -180.0,180.0);
 
         System.out.println("Aligning the turn to degree angle: " + turretSetpoint);