From 9790b7f9d5caa9c554b184eb72d279ce8ed64f5d Mon Sep 17 00:00:00 2001
From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Sat, 24 Jan 2026 15:53:52 -0800
Subject: [PATCH] fdsa

---
 src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java | 3 ++-
 1 file changed, 2 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 b437dc9..e98abcd 100644
--- a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
+++ b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
@@ -48,7 +48,8 @@ public class TurretAutoShoot extends Command {
         double D_y;
         double D_x;
         if (SOTM) {
-            ChassisSpeeds chassisSpeed = drivetrain.getChassisSpeeds();
+            ChassisSpeeds robotRelVel = drivetrain.getChassisSpeeds();
+            fieldRelVel = ChassisSpeeds.fromRobotRelativeSpeeds(robotRelVel, drivetrain.getYaw());
             double xVel = chassisSpeed.vxMetersPerSecond;
             double yVel = chassisSpeed.vyMetersPerSecond;
             
-- 
2.39.5