From c0b14150fea4f877d94f64f4784aab66d0ce4ef6 Mon Sep 17 00:00:00 2001
From: TheRealGreydon <nmunier65@gmail.com>
Date: Thu, 8 Oct 2026 19:44:01 -0400
Subject: [PATCH] The thingy

---
 .../robot/commands/AutoTurretShootCommand.java   | 16 ++--------------
 .../frc/robot/subsystems/TurretSubsystem.java    |  3 ++-
 2 files changed, 4 insertions(+), 15 deletions(-)

diff --git a/src/main/java/frc/robot/commands/AutoTurretShootCommand.java b/src/main/java/frc/robot/commands/AutoTurretShootCommand.java
index 33e9a0b..1a5ae28 100644
--- a/src/main/java/frc/robot/commands/AutoTurretShootCommand.java
+++ b/src/main/java/frc/robot/commands/AutoTurretShootCommand.java
@@ -1,28 +1,17 @@
 package frc.robot.commands;
 
 import org.littletonrobotics.junction.Logger;
-
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.units.Units;
-import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.*;
 import frc.robot.Constants;
 import frc.robot.Utils;
-import frc.robot.subsystems.DriveSubsystem;
-import frc.robot.subsystems.HopperSubsystem;
-import frc.robot.subsystems.IntakeSubsystem;
-import frc.robot.subsystems.TurretSubsystem;
+import frc.robot.subsystems.*;
 
 public class AutoTurretShootCommand extends Command{
 
     private HopperSubsystem hopperSubsystem;
     private TurretSubsystem turretSubsystem;
-    private IntakeSubsystem intakeSubsystem;
     private DriveSubsystem driveSubsystem;
 
     private Command waitCommand = Commands.waitSeconds(1.5);
@@ -31,7 +20,6 @@ public class AutoTurretShootCommand extends Command{
     public AutoTurretShootCommand(HopperSubsystem hopperSubsystem, TurretSubsystem turretSubsystem, IntakeSubsystem intakeSubsystem, DriveSubsystem driveSubsystem){
         this.hopperSubsystem = hopperSubsystem;
         this.turretSubsystem = turretSubsystem;
-        this.intakeSubsystem = intakeSubsystem;
         this.driveSubsystem = driveSubsystem;
 
         addRequirements(hopperSubsystem, intakeSubsystem);
diff --git a/src/main/java/frc/robot/subsystems/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
index 582ca6a..728f06f 100644
--- a/src/main/java/frc/robot/subsystems/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/TurretSubsystem.java
@@ -182,12 +182,13 @@ public class TurretSubsystem extends TestableSubsystem {
     int maxAngle = Constants.ShooterConstants.HOOD_ANGLE_MAX_DEG;
     
     // Confirm target is within expected range. If not, do nothing.
+    double pos;
     if ((angleDegrees <= maxAngle) &&
         (angleDegrees >= minAngle)) {
       
       // Map so that min angle maps to "0" and max angle maps to "1."
       // The min angle corresponds to the hood's tallest physical position.
-      double pos = (double)(angleDegrees - minAngle) / (maxAngle - minAngle);
+      pos = (double)(angleDegrees - minAngle) / (maxAngle - minAngle);
 
       // Actuate the hood.
       hood.set(pos);