From bdf3490880be7901da52e74f2f7ce585b21016ad Mon Sep 17 00:00:00 2001 From: iefomit Date: Thu, 16 Apr 2026 18:06:35 -0700 Subject: [PATCH] fix TODO --- src/main/java/frc/robot/commands/gpm/LockedShoot.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/commands/gpm/LockedShoot.java b/src/main/java/frc/robot/commands/gpm/LockedShoot.java index 3f7a0f5..d08f30c 100644 --- a/src/main/java/frc/robot/commands/gpm/LockedShoot.java +++ b/src/main/java/frc/robot/commands/gpm/LockedShoot.java @@ -143,7 +143,7 @@ public class LockedShoot extends Command { ChassisSpeeds robotRelVel = drive.getChassisSpeeds(); // Add a phase delay extrapolation component for latency delay - drivepose.exp( //TODO this is a problem, drivepose.exp returns a Pose2d, should be drivepose = drivepose.exp(...) + drivepose = drivepose.exp( new Twist2d( robotRelVel.vxMetersPerSecond * phaseDelay, robotRelVel.vyMetersPerSecond * phaseDelay, -- 2.39.5