From 3e62dbd9edb9814b5917b2982a9899326f6b6449 Mon Sep 17 00:00:00 2001 From: mixxlto Date: Wed, 21 Jan 2026 14:48:34 -0800 Subject: [PATCH] might remove turret visioin --- src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java index 67c737b..0fa34f0 100644 --- a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java +++ b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java @@ -30,6 +30,11 @@ public class TurretAutoShoot extends Command { this.turretVision = turretVision; } + public TurretAutoShoot(Turret turret, Drivetrain drivetrain){ + this.turret = turret; + this.drivetrain = drivetrain; + } + public void updateTurretSetpoint() { Translation2d drivepose = drivetrain.getPose().getTranslation(); Translation2d target = FieldConstants.getHubTranslation().toTranslation2d(); @@ -72,7 +77,7 @@ public class TurretAutoShoot extends Command { public void execute() { updateTurretSetpoint(); updateYawToTag(); - if(turretVisionEnabled && turret.atSetPoint()){ + if(turretVision != null && turretVisionEnabled && turret.atSetPoint()){ adjustWithTurretCam(); turret.setSetpoint(adjustedSetpoint, drivetrain.getAngularRate(2)); } else{ -- 2.39.5