Merge branch 'main' into trench-assist-mega

diff --cc src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
Simple merge

diff --cc src/main/java/frc/robot/util/TrenchAssist/TrenchAssistConstants.java
index 3cd413b9fbd148fd7abdf8487600d6708457d840,c6e12083ffa3c9b7203ccaafe35732057fc7f569..f1dfbe2c56627d04c72162b8e15703e89b801654
--- 1/src/main/java/frc/robot/util/TrenchAssist/TrenchAssistConstants.java
--- 2/src/main/java/frc/robot/util/TrenchAssist/TrenchAssistConstants.java
+++ b/src/main/java/frc/robot/util/TrenchAssist/TrenchAssistConstants.java
@@@ -17,14 -18,14 +18,14 @@@ public class TrenchAssistConstants 
              new Rectangle2d(new Translation2d(4.03 - .5, 8.07), new Translation2d(5.22 + .5, 8.07 - 3)),
              new Rectangle2d(new Translation2d(11.32 - .5, 0), new Translation2d(12.51 + .5, 3)),
              new Rectangle2d(new Translation2d(11.32 - .5, 8.07), new Translation2d(12.51 + .5, 8.07 - 3)),
 -            new Rectangle2d(new Translation2d(99.99, 99.9), new Translation2d(0.0, 0.0)),
 +            new Rectangle2d(new Translation2d(99.99, 99.9), new Translation2d(-99.0, -99.0)),
      };
  
-     public static final double[] SLIDE_LATITUDES = new double[]{
-         8.07 - Units.inchesToMeters(30.0),
-         Units.inchesToMeters(30.0), // should be accurate, i think our field is slightly too small
-         // 6.550,
-         // 0.668,
+     public static final double[] SLIDE_LATITUDES = new double[] {
+             FieldConstants.FIELD_WIDTH - Units.inchesToMeters(30.0),
+             Units.inchesToMeters(30.0), // should be accurate, i think our field is slightly too small
+             // 6.550,
+             // 0.668,
  
      };