Update PS5ControllerDriverConfig.java

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 29be15070eba66713ed4ab5c25bb8ce27d1d40a2..a0d349efd9b5827f47fd9ec2d5e5e48a625b7f87 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -68,7 +68,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
         Translation2d drivepose = getDrivetrain().getPose().getTranslation();
         // uses tag #??
         int tagNumber = 17;
-        Translation2d tagpose = FieldConstants.APRIL_TAGS.get(tagNumber - 1).pose.toPose2d().getTranslation();
+        Translation2d tagpose = FieldConstants.field.getTagPose(tagNumber).get().toPose2d().getTranslation();
         double YDifference = tagpose.getY() - drivepose.getY();
         double XDifference = tagpose.getX() - drivepose.getX();
         double angle = Math.atan(YDifference/XDifference);