changes

diff --git a/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java b/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
index ba2325747948b3a8bd3843bd3ed971c77e256d10..992cdd34bb1435045ff0d1c3b97bbb24886ebf8d 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
+++ b/src/main/java/frc/robot/commands/gpm/AutoShootCommand.java
@@ -76,7 +76,7 @@ public class AutoShootCommand extends Command {
                                FieldConstants.getHubTranslation().minus(new Translation3d(drivepose.getTranslation())),
                                8.0); // Random initial goalState to prevent it being null
         // Jerry Debug
-        System.out.println("The current goal state (including the exit vel):" + goalState);
+        // System.out.println("The current goal state (including the exit vel):" + goalState);
 
         addRequirements(turret);
     }

diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java
index 9a91454fc19135e32c5f54c555953fd11a54f149..2c7bfa04d6c2f36d54ebadd9440df5e3260c8da4 100644 (file)
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@ -162,12 +162,12 @@ public class FieldConstants {
         || x > FIELD_LENGTH/2 + Units.inchesToMeters(120.0) && x < RED_ALLIANCE_LINE) {
           return FieldZone.TRENCH_BUMP;
         }
-    if(((y < FIELD_WIDTH - (48.75 / 2) && y > FIELD_WIDTH - (48.75 / 2))) && (x < 47.0 || x > FIELD_LENGTH - 47.0)) {
-      return FieldZone.UNDER_LADDER;
-    }
-    if(((y < FIELD_WIDTH - (46.75 / 2) && y > FIELD_WIDTH - (46.75 / 2))) && ((x > 207.42375 && x < 207.42375 + 36.0) || (x < FIELD_LENGTH - 207.42375 && x > FIELD_LENGTH - 207.42375 - 36.0))) {
+    if(((y < FIELD_WIDTH - ((48.75 / 2) + 0.158750) && y > FIELD_WIDTH - (48.75 / 2) - 0.736600)) && (x < 47.0 || x > FIELD_LENGTH - 47.0)) {
       return FieldZone.UNDER_LADDER;
     }
+    // if(((y < FIELD_WIDTH - (46.75 / 2) && y > FIELD_WIDTH - (46.75 / 2))) && ((x > 207.42375 && x < 207.42375 + 36.0) || (x < FIELD_LENGTH - 207.42375 && x > FIELD_LENGTH - 207.42375 - 36.0))) {
+    //   return FieldZone.UNDER_LADDER;
+    // }
     if(x > FieldConstants.RED_ALLIANCE_LINE) { // inside red
       if (Robot.getAlliance() == Alliance.Red) {
         return FieldZone.ALLIANCE;