From d22ce21b981db5e4ae0bc5d8aced0e7d02365ccc Mon Sep 17 00:00:00 2001 From: mixxlto Date: Tue, 20 Jan 2026 22:22:25 -0800 Subject: [PATCH] Update TurretAutoShoot.java --- src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java | 2 +- 1 file changed, 1 insertion(+), 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 dab7bb3..67c737b 100644 --- a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java +++ b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java @@ -36,7 +36,7 @@ public class TurretAutoShoot extends Command { double D_y = target.getY() - drivepose.getY(); double D_x = target.getX() - drivepose.getX(); fieldAngleRad = Math.atan2(D_y, D_x); - double robotHeading = MathUtil.angleModulus((drivetrain.getYaw().getRadians())); + double robotHeading = MathUtil.angleModulus((drivetrain.getYaw().getRadians() + Math.PI)); // Add 180 because drivetrain is backwards turretSetpoint = MathUtil.inputModulus(Units.radiansToDegrees(fieldAngleRad - robotHeading), -180.0,180.0); System.out.println("Aligning the turn to degree angle: " + turretSetpoint); -- 2.39.5