fatal mistake

diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java
index fb36bcad3d082ef1cd2b1271d3a60a0303b63d9b..ba1f454d55e35a33cb7d614e0abf2108da888e38 100644 (file)
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@ -4,6 +4,8 @@ import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import frc.robot.Robot;
 
 public class FieldConstants {
   /** Width of the field [meters] */
@@ -15,6 +17,18 @@ public class FieldConstants {
   public static final AprilTagFieldLayout field = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltWelded);
 
   /** Location of hub target */
-  public static final Translation3d HUB_TRANSLATION3D = new Translation3d(Units.inchesToMeters(156.8), 4.035, Units.inchesToMeters(72));
+  public static final Translation3d HUB_BLUE =
+      new Translation3d(Units.inchesToMeters(156.8), 4.035, Units.inchesToMeters(72));
 
+  public static Translation3d getHubTranslation() {
+    if (Robot.getAlliance() == Alliance.Blue) {
+      return HUB_BLUE;
+    } else {
+      return new Translation3d(
+          field.getFieldLength() - HUB_BLUE.getX(),
+          HUB_BLUE.getY(),
+          HUB_BLUE.getZ()
+      );
+    }
+  }
 }
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