From: mixxlto <maxtan0626@gmail.com>
Date: Mon, 19 Jan 2026 04:02:07 +0000 (-0800)
Subject: Update PS5ControllerDriverConfig.java
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=0d5a221f719e5c3d5f7e95d51390a23d1774720f;p=FRC2026.git

Update PS5ControllerDriverConfig.java
---

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index 29be150..a0d349e 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -68,7 +68,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
         Translation2d drivepose = getDrivetrain().getPose().getTranslation();
         // uses tag #??
         int tagNumber = 17;
-        Translation2d tagpose = FieldConstants.APRIL_TAGS.get(tagNumber - 1).pose.toPose2d().getTranslation();
+        Translation2d tagpose = FieldConstants.field.getTagPose(tagNumber).get().toPose2d().getTranslation();
         double YDifference = tagpose.getY() - drivepose.getY();
         double XDifference = tagpose.getX() - drivepose.getX();
         double angle = Math.atan(YDifference/XDifference);