From 213c4dc7b192cef2220d7fafd98dcc0eac17e37b Mon Sep 17 00:00:00 2001 From: mixxlto Date: Thu, 12 Feb 2026 00:35:03 -0800 Subject: [PATCH] Update AutoShootCommand.java --- src/main/java/frc/robot/commands/gpm/AutoShootCommand.java | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java b/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java index 99597ac..0303878 100644 --- a/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java +++ b/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java @@ -96,7 +96,7 @@ public class AutoShootCommand extends Command { public void updateSetpoints(Pose2d drivepose) { - Translation2d target = FieldConstants.getHubTranslation().toTranslation2d(); + Translation2d target = FieldConstants.getHubTranslation().toTranslation2d(); // Put this on the top so we can change it Pose2d turretPosition = drivepose.transformBy(new Transform2d((new Translation2d(TurretConstants.DISTANCE_FROM_ROBOT_CENTER.getX(),TurretConstants.DISTANCE_FROM_ROBOT_CENTER.getY())), new Rotation2d())); double turretToTargetDistance = target.getDistance(turretPosition.getTranslation()); @@ -122,9 +122,10 @@ public class AutoShootCommand extends Command { // Loop (20) until lookahreadTurretToTargetDistance converges for (int i = 0; i < 20; i++) { + Translation3d lookahead3d = new Translation3d(lookaheadPose.getX(), lookaheadPose.getY(), TurretConstants.DISTANCE_FROM_ROBOT_CENTER.getZ()); + Translation3d target3d = new Translation3d(target.getX(), target.getY(), FieldConstants.getHubTranslation().getZ()); // Add if statement so that it's only when it's shooting goalState = ShooterPhysics.getShotParams( - new Translation2d(turretVelocityX, turretVelocityY), - new Translation3d(target.minus(lookaheadPose.getTranslation())), + target3d.minus(lookahead3d), 8.0); timeOfFlight = ShotInterpolation.timeOfFlightMap.get(lookaheadTurretToTargetDistance); -- 2.39.5