From ba5af9484b62516c3635bc5261e18832e9ab2ed8 Mon Sep 17 00:00:00 2001
From: Liam Sykes <2491nomythic@gmail.com>
Date: Wed, 20 Nov 2024 17:01:12 -0600
Subject: [PATCH] fixed inversion of shooting while moving forward/backward on
 blue alliance

---
 src/main/java/frc/robot/subsystems/AngleShooterSubsystem.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/subsystems/AngleShooterSubsystem.java b/src/main/java/frc/robot/subsystems/AngleShooterSubsystem.java
index 274e4e7..4ee9e64 100644
--- 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);