Fix merge issues

Author: Braedeng0

TeamCode/src/main/kotlin/pioneer/decode/GoalTag.kt

@@ -47,12 +47,11 @@ enum class GoalTag(
 
     val shootingHeight = height + 50.0
 
-    // Tag pose plus half the goal depth (46.45 cm)
     val shootingPose: Pose
         get() =
             when (this) {
                 BLUE -> this.pose + Pose(x = -32.0, y = 30.0) // -X +Y
-                RED -> this.pose + Pose(x = (46.45 / 2) / sqrt(2.0), y = (46.45 / 2) / sqrt(2.0)) // +X +Y //TODO: Update when back at HS
+                RED -> this.pose + Pose(x = 32.0, y = 30.0) // +X +Y
             }
 }
 

TeamCode/src/main/kotlin/pioneer/opmodes/auto/GoalSideAuto.kt

@@ -56,7 +56,6 @@ class GoalSideAuto : BaseOpMode() {
     private var targetVelocity = 0.0
     // Motif logic variables
     private var motifOrder: Motif = Motif(21)
-    private var motifIndex = 0
     private var lookForTag = true
 
     override fun onInit() {
@@ -95,9 +94,9 @@ class GoalSideAuto : BaseOpMode() {
             State.STOP -> state_stop()
         }
 
-        val target = if (bot.allianceColor == AllianceColor.RED) GoalTag.RED.shootingPose else GoalTag.BLUE.shootingPose
-        targetVelocity = bot.flywheel!!.estimateVelocity(target, bot.pinpoint!!.pose)
-        bot.turret?.autoTrack(bot.pinpoint!!.pose, target)
+        val targetGoal = if (bot.allianceColor == AllianceColor.RED) GoalTag.RED else GoalTag.BLUE
+        targetVelocity = bot.flywheel!!.estimateVelocity(targetGoal.shootingPose, bot.pinpoint!!.pose, targetGoal.shootingHeight)
+        bot.turret?.autoTrack(bot.pinpoint!!.pose, targetGoal.shootingPose)
 
         telemetry.addData("Next Artifact", motifOrder.currentArtifact)
         telemetry.addData("Detected Motif", motifOrder.toString())