From: Timofei <108955303+iefomit@users.noreply.github.com>
Date: Fri, 17 Apr 2026 22:43:43 +0000 (-0700)
Subject: Merge branch 'main' into some-fixes
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=dbef0028530811755bbe5280b57e3300dde39ab1;p=FRC2026.git

Merge branch 'main' into some-fixes
---

dbef0028530811755bbe5280b57e3300dde39ab1
diff --cc src/main/java/frc/robot/commands/gpm/Superstructure.java
index f47ca18,f5a11f5..54a4f66
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@@ -196,11 -198,11 +198,11 @@@ public class Superstructure extends Com
          ChassisSpeeds robotRelVel = drivetrain.getChassisSpeeds();
  
          // Add a phase delay extrapolation component for latency delay
 -        drivepose.exp(
 +        drivepose = drivepose.exp(
              new Twist2d(
-                 robotRelVel.vxMetersPerSecond * phaseDelay,
-                 robotRelVel.vyMetersPerSecond * phaseDelay,
-                 robotRelVel.omegaRadiansPerSecond * phaseDelay));
+                 robotRelVel.vxMetersPerSecond * phaseDelay.get(),
+                 robotRelVel.vyMetersPerSecond * phaseDelay.get(),
+                 robotRelVel.omegaRadiansPerSecond * phaseDelay.get()));
      }
  
      /**