From 9682c379e33af747c73a55fa8e9831a83111fe53 Mon Sep 17 00:00:00 2001 From: mixxlto Date: Sun, 18 Jan 2026 22:12:45 -0800 Subject: [PATCH] Update Turret.java --- src/main/java/frc/robot/subsystems/turret/Turret.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java index be1915a..332d18f 100644 --- a/src/main/java/frc/robot/subsystems/turret/Turret.java +++ b/src/main/java/frc/robot/subsystems/turret/Turret.java @@ -181,7 +181,7 @@ public class Turret extends SubsystemBase { Translation2d drivepose = drivetrain.getPose().getTranslation(); // Using tag #?? int tagNumber = 17; - Translation2d tagpose = FieldConstants.APRIL_TAGS.get(tagNumber - 1).pose.toPose2d().getTranslation(); + Translation2d tagpose = FieldConstants.field.getTagPose(tagNumber ).get().toPose2d().getTranslation(); double D_y = tagpose.getY() - drivepose.getY(); double D_x = tagpose.getX() - drivepose.getX(); double angleRad = Math.atan2(D_y, D_x); -- 2.39.5