From 1c479aa49c88f7a1e6428620162270a05f5ddd18 Mon Sep 17 00:00:00 2001 From: Taran Nathan Date: Tue, 19 May 2026 16:34:26 -0700 Subject: [PATCH] works now --- src/main/java/frc/robot/commands/gpm/ManualShoot.java | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/commands/gpm/ManualShoot.java b/src/main/java/frc/robot/commands/gpm/ManualShoot.java index 3842a53..6d4f443 100644 --- a/src/main/java/frc/robot/commands/gpm/ManualShoot.java +++ b/src/main/java/frc/robot/commands/gpm/ManualShoot.java @@ -130,8 +130,8 @@ public class ManualShoot extends Command { // the hub Translation2d x = drivepose.getTranslation().plus( - new Translation2d(0, 1).rotateBy(operator.getLeftRotation()) - ).times(operator.getLeftTrigger() * SmartDashboard.getNumber("Manual Shooting Power Scale", 1.0)); + new Translation2d(0, 1).rotateBy(operator.getLeftRotation())) + .times(operator.getLeftTrigger() * SmartDashboard.getNumber("Manual Shooting Power Scale", 1.0)); Translation3d target3d = new Translation3d(x); @@ -268,7 +268,10 @@ public class ManualShoot extends Command { public void execute() { // Phase manager stuff phaseManager.update(drivepose, shooter, turret); - target = phaseManager.getTarget(drivepose); + // target = phaseManager.getTarget(drivepose); + target = drivepose.getTranslation().plus( + new Translation2d(0, 1).rotateBy(operator.getLeftRotation())) + .times(operator.getLeftTrigger() * SmartDashboard.getNumber("Manual Shooting Power Scale", 1.0)); updateDrivePose(); updateSetpoints(drivepose); -- 2.39.5