revert

diff --git a/src/main/java/frc/robot/util/PhaseManager.java b/src/main/java/frc/robot/util/PhaseManager.java
index bcc3ab100c264447ade21295d85de69146902938..02dffb9ea0b5469f87c13004ddbcc4488ab5fd72 100644 (file)
--- a/src/main/java/frc/robot/util/PhaseManager.java
+++ b/src/main/java/frc/robot/util/PhaseManager.java
@@ -88,22 +88,10 @@ public class PhaseManager {
     }
 
     public Translation2d getTarget(Pose2d drivePose) {
-        // return wantedState == WantedState.SHOOTING ? FieldConstants.getHubTranslation().toTranslation2d()
-        //         : (FieldConstants.isOnLeftSideOfField(drivePose.getTranslation())
-        //         //TODO: reversed for sm reason
-        //                 ? FieldConstants.getAllianceSideTranslation(false).toTranslation2d()
-        //                 : FieldConstants.getAllianceSideTranslation(true).toTranslation2d());
-        if (wantedState == WantedState.SHOOTING) {
-            return FieldConstants.getHubTranslation().toTranslation2d();
-        } else  {
-            double targetY;
-
-            if (drivePose.getY() > 4.0) {
-                targetY = (FieldConstants.FIELD_WIDTH * 1.5) - drivePose.getY();
-            } else {
-                targetY = (FieldConstants.FIELD_WIDTH * 0.5) - drivePose.getY();
-            }
-            return new Translation2d(FieldConstants.getAllianceSideTranslation(true).getX(), targetY);
-        }
+        return wantedState == WantedState.SHOOTING ? FieldConstants.getHubTranslation().toTranslation2d()
+                : (FieldConstants.isOnLeftSideOfField(drivePose.getTranslation())
+                //TODO: reversed for sm reason
+                        ? FieldConstants.getAllianceSideTranslation(false).toTranslation2d()
+                        : FieldConstants.getAllianceSideTranslation(true).toTranslation2d());
     }
 }