new shuttling gradiant, focuses more on edges

diff --git a/src/main/java/frc/robot/util/PhaseManager.java b/src/main/java/frc/robot/util/PhaseManager.java
index 02b266ca917fe62c2a19f47774174c036a18cb91..9fa7ac5b43e158a438b3ae79c729062f8b101aff 100644 (file)
--- a/src/main/java/frc/robot/util/PhaseManager.java
+++ b/src/main/java/frc/robot/util/PhaseManager.java
@@ -101,10 +101,11 @@ public class PhaseManager {
             double targetY;
 
             if (drivePose.getY() > 4.0) {
-                targetY = (FieldConstants.FIELD_WIDTH * 1.5) - drivePose.getY();
+                targetY = (FieldConstants.FIELD_WIDTH * (11.0/8.0)) - (drivePose.getY() * .75);
             } else {
-                targetY = (FieldConstants.FIELD_WIDTH * 0.5) - drivePose.getY();
+                targetY = (FieldConstants.FIELD_WIDTH * (3.0/8.0)) - (drivePose.getY() * .75);
             }
+
             return new Translation2d(FieldConstants.getAllianceSideTranslation(true).getX(), targetY);
         }
     }