From 5267e47c9b196d0bc422c9dea334ccff7618f90d Mon Sep 17 00:00:00 2001 From: mixxlto Date: Sun, 25 Jan 2026 15:23:00 -0800 Subject: [PATCH] Update TurretAutoShoot.java --- src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java index 1a65db3..45deb15 100644 --- a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java +++ b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java @@ -44,6 +44,8 @@ public class TurretAutoShoot extends Command { Translation2d target = FieldConstants.getHubTranslation().toTranslation2d(); double D_y; double D_x; + // TODO: Change time to goal on actual comp bot + double timeToGoal = 0.67; // If the robot is moving, adjust the target position based on velocity if (SOTM) { @@ -52,8 +54,8 @@ public class TurretAutoShoot extends Command { double xVel = fieldRelVel.vxMetersPerSecond; double yVel = fieldRelVel.vyMetersPerSecond; - D_y = target.getY() - drivepose.getY() - (0.67) * yVel; - D_x = target.getX() - drivepose.getX() - (0.67) * xVel; + D_y = target.getY() - drivepose.getY() - timeToGoal * yVel; + D_x = target.getX() - drivepose.getX() - timeToGoal * xVel; } else { D_y = target.getY() - drivepose.getY(); D_x = target.getX() - drivepose.getX(); -- 2.39.5