From b84cae7cd480591e28392c7fa702f845cb22caaa Mon Sep 17 00:00:00 2001 From: mixxlto Date: Thu, 29 Jan 2026 14:50:06 -0800 Subject: [PATCH] 67 --- src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java index 52ecebf..69b2a84 100644 --- a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java +++ b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java @@ -65,6 +65,8 @@ public class TurretAutoShoot extends Command { double timeOfFlight; Pose2d lookaheadPose = turretPosition; double lookaheadTurretToTargetDistance = turretToTargetDistance; + + // Loop (20) until lookahreadTurretToTargetDistance converges for (int i = 0; i < 20; i++) { timeOfFlight = ShotInterpolation.timeOfFlightMap.get(lookaheadTurretToTargetDistance); double offsetX = turretVelocityX * timeOfFlight; -- 2.39.5