Turret working

diff --git a/src/main/java/frc/robot/util/PhaseManager.java b/src/main/java/frc/robot/util/PhaseManager.java
index 02dffb9ea0b5469f87c13004ddbcc4488ab5fd72..1f985fc5d71bf332242a8a8227b6afa0313ae299 100644 (file)
--- a/src/main/java/frc/robot/util/PhaseManager.java
+++ b/src/main/java/frc/robot/util/PhaseManager.java
@@ -61,9 +61,14 @@ public class PhaseManager {
 
     private void updateWantedState(Pose2d drivePose) {
         FieldZone zone = FieldConstants.getZone(drivePose.getTranslation());
-        if (zone == FieldConstants.FieldZone.UNDER_LADDER) {
-            wantedState = WantedState.IDLE;
-        } else if (zone == FieldConstants.FieldZone.ALLIANCE) {
+        // if (zone == FieldConstants.FieldZone.UNDER_LADDER) {
+        //     wantedState = WantedState.IDLE;
+        // } else if (zone == FieldConstants.FieldZone.ALLIANCE) {
+        //     wantedState = WantedState.SHOOTING;
+        // } else {
+        //     wantedState = WantedState.PASSING;
+        // }
+        if (zone == FieldConstants.FieldZone.ALLIANCE) {
             wantedState = WantedState.SHOOTING;
         } else {
             wantedState = WantedState.PASSING;
@@ -78,7 +83,6 @@ public class PhaseManager {
     }
     
     public boolean isIdle() { 
-
         return wantedState == WantedState.IDLE; 
     }