fixed inversion of shooting while moving forward/backward on blue all…

…iance
2491-NoMythic · Nov 20, 2024 · ba5af94 · ba5af94
1 parent a1fb744
commit ba5af94
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/main/java/frc/robot/subsystems/AngleShooterSubsystem.java b/src/main/java/frc/robot/subsystems/AngleShooterSubsystem.java
@@ -172,7 +172,7 @@ public double calculateSpeakerAngle() {
 			offsetSpeakerX = Field.SHOOTER_RED_SPEAKER_X - targetOffset.getX();
 			offsetSpeakerY = Field.RED_SPEAKER_Y - targetOffset.getY();
 		} else {
-			offsetSpeakerX = Field.SHOOTER_BLUE_SPEAKER_X - targetOffset.getX();
+			offsetSpeakerX = Field.SHOOTER_BLUE_SPEAKER_X + targetOffset.getX();
 			offsetSpeakerY = Field.BLUE_SPEAKER_Y - targetOffset.getY();
 		}
 		double offsetDeltaX = Math.abs(dtvalues.getX() - offsetSpeakerX);