From 5a575155d1430ce4b163c1b9bf04c2cd0a7f8962 Mon Sep 17 00:00:00 2001
From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Mon, 16 Feb 2026 11:49:38 -0800
Subject: [PATCH] a

---
 src/main/java/frc/robot/commands/gpm/SimpleAutoShoot.java | 2 ++
 src/main/java/frc/robot/subsystems/turret/Turret.java     | 2 +-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/commands/gpm/SimpleAutoShoot.java b/src/main/java/frc/robot/commands/gpm/SimpleAutoShoot.java
index b0bb36e..899a51e 100644
--- a/src/main/java/frc/robot/commands/gpm/SimpleAutoShoot.java
+++ b/src/main/java/frc/robot/commands/gpm/SimpleAutoShoot.java
@@ -12,6 +12,7 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.units.Unit;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Robot;
 import frc.robot.constants.Constants;
@@ -124,6 +125,7 @@ public class SimpleAutoShoot extends Command {
 
     @Override
     public void execute() {
+        SmartDashboard.putNumber("Robot X Position", drivepose.getX());
         //shooter.setShooterPower(ShotInterpolation.shooterPowerMap.get(FieldConstants.getHubTranslation().toTranslation2d().getDistance(drivetrain.getPose().getTranslation())));
         // Continuously update setpoints and adjust based on vision if available
         drivepose = drivetrain.getPose().getTranslation();
diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 8cbefe5..0954052 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -46,7 +46,7 @@ public class Turret extends SubsystemBase implements TurretIO{
 	//private static final PIDController longVelocityPID = new PIDController(15, 0, 1.0);
 	private static final PIDController velocityPID = new PIDController(0.0, 0.0, 0.0);
 
-	private final LinearFilter setpointFilter = LinearFilter.singlePoleIIR(0.2
+	private final LinearFilter setpointFilter = LinearFilter.singlePoleIIR(0.02
 	, 0.02);
 
 
-- 
2.39.5