From dac43da07628f9768673fd309c50f9f048d966c8 Mon Sep 17 00:00:00 2001
From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Sat, 24 Jan 2026 15:51:38 -0800
Subject: [PATCH] fda

---
 src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java | 6 +++---
 src/main/java/frc/robot/subsystems/turret/Turret.java     | 4 ++--
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
index 04b987f..b437dc9 100644
--- a/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
+++ b/src/main/java/frc/robot/commands/gpm/TurretAutoShoot.java
@@ -38,7 +38,7 @@ public class TurretAutoShoot extends Command {
     }
 
     public TurretAutoShoot(Turret turret, Drivetrain drivetrain, boolean SOTM){
-        this(turret, drivetrain, null);
+        this(turret, drivetrain, null, SOTM);
         this.SOTM = SOTM;
     }
 
@@ -52,8 +52,8 @@ public class TurretAutoShoot extends Command {
             double xVel = chassisSpeed.vxMetersPerSecond;
             double yVel = chassisSpeed.vyMetersPerSecond;
             
-            D_y = target.getY() - drivepose.getY() + (Units.secondsToMilliseconds(yVel) * 20); // every periodic predict where the robot will be in one periodic into the future
-            D_x = target.getX() - drivepose.getX() + (Units.secondsToMilliseconds(xVel) * 20);
+            D_y = target.getY() - drivepose.getY() + (0.92) * yVel;
+            D_x = target.getX() - drivepose.getX() + (0.92) * xVel;
         } else {
             D_y = target.getY() - drivepose.getY();
             D_x = target.getX() - drivepose.getX();
diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 1faf7e3..ecbde7f 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -48,8 +48,8 @@ public class Turret extends SubsystemBase implements TurretIO{
 
     private TurretIOInputsAutoLogged inputs = new TurretIOInputsAutoLogged();
 
-    private double dV = 2.0;
-    private double kP = 10.0;
+    private double dV = 1.0;
+    private double kP = 15.0;
     private double kI = 0.0;
     private double kD = 0.0;
 
-- 
2.39.5