From 222b20156140bea06f1a55897ad46f9b6043e13b Mon Sep 17 00:00:00 2001
From: DanTheMan-byte <danibarrf@gmail.com>
Date: Sat, 25 Apr 2026 22:15:26 -0500
Subject: [PATCH] fixed hood offset

---
 .../firstinspires/ftc/teamcode/constants/ServoPositions.java | 2 +-
 .../java/org/firstinspires/ftc/teamcode/utils/Targeting.java | 5 ++---
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
index 8f54aca..24ad1be 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
@@ -27,7 +27,7 @@ public class ServoPositions {
 
     public static double hoodAuto = 0.27;
 
-    public static double hoodOffset = -0.04; // offset from 0.93
+    public static double hoodOffset = -0.05; // offset from 0.93 (or position at 0,0 in targeting class)
 
     public static double turret_redClose = 0;
     public static double turret_blueClose = 0;
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java
index 83521ed..95ce968 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java
@@ -1,6 +1,7 @@
 package org.firstinspires.ftc.teamcode.utils;
 
 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
 
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import java.lang.Math;
@@ -84,8 +85,6 @@ public class Targeting {
     public Targeting() {
     }
 
-    double cos54 = Math.cos(Math.toRadians(-54));
-    double sin54 = Math.sin(Math.toRadians(-54));
     //TODO: change code so it uses pedropathing paths
     public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
         Settings recommendedSettings = new Settings(0.0, 0.0);
@@ -220,7 +219,7 @@ public class Targeting {
         if (true) { //!interpolate) {
             if ((robotGridY < 6) && (robotGridX < 6)) {
                 recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
-                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle;
+                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle + hoodOffset;
             }
             return recommendedSettings;
         } else {