From: WesleyWong-972 <wesleycwong@gmail.com>
Date: Fri, 13 Mar 2026 23:20:00 +0000 (-0700)
Subject: alliance line fix + remove under ladder
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=38d18c875c5574f684325e56026c39772d98e955;p=FRC2026.git

alliance line fix + remove under ladder
---

diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java
index a27153d..dc62978 100644
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@ -159,19 +159,19 @@ public class FieldConstants {
     double y = drivepose.getY();
     //double y = drivepose.getY();
     if ((x < FIELD_LENGTH/2 - Units.inchesToMeters(120.0) && x > (BLUE_ALLIANCE_LINE + (DriveConstants.ROBOT_WIDTH_WITH_BUMPERS)/2)) //blue alliance line
-        || x > FIELD_LENGTH/2 + Units.inchesToMeters(120.0) && x < (RED_ALLIANCE_LINE + (DriveConstants.ROBOT_WIDTH_WITH_BUMPERS)/2)) {
+        || x > FIELD_LENGTH/2 + Units.inchesToMeters(120.0) && x < (RED_ALLIANCE_LINE - (DriveConstants.ROBOT_WIDTH_WITH_BUMPERS)/2)) {
           return FieldZone.TRENCH_BUMP;
         }
-    if(((y < (FIELD_WIDTH / 2) + 0.158750) && y > (FIELD_WIDTH / 2) - 0.736600) && (x < Units.inchesToMeters(47.0) || x > FIELD_LENGTH - Units.inchesToMeters(47.0)) && Robot.getAlliance() == Alliance.Blue) {
-      return FieldZone.UNDER_LADDER;
-    }
-    if(((y < (FIELD_WIDTH / 2) - 0.158750) && y > (FIELD_WIDTH / 2) + 0.736600) && (x < Units.inchesToMeters(47.0) || x > FIELD_LENGTH - Units.inchesToMeters(47.0)) && Robot.getAlliance() == Alliance.Red) {
-      return FieldZone.UNDER_LADDER;
-    }
+    // if(((y < (FIELD_WIDTH / 2) + 0.158750) && y > (FIELD_WIDTH / 2) - 0.736600) && (x < Units.inchesToMeters(47.0) || x > FIELD_LENGTH - Units.inchesToMeters(47.0)) && Robot.getAlliance() == Alliance.Blue) {
+    //   return FieldZone.UNDER_LADDER;
+    // }
+    // if(((y < (FIELD_WIDTH / 2) - 0.158750) && y > (FIELD_WIDTH / 2) + 0.736600) && (x < Units.inchesToMeters(47.0) || x > FIELD_LENGTH - Units.inchesToMeters(47.0)) && Robot.getAlliance() == Alliance.Red) {
+    //   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 + (DriveConstants.ROBOT_WIDTH_WITH_BUMPERS)/2) { // inside red
+    if(x > FieldConstants.RED_ALLIANCE_LINE - (DriveConstants.ROBOT_WIDTH_WITH_BUMPERS)/2) { // inside red
       if (Robot.getAlliance() == Alliance.Red) {
         return FieldZone.ALLIANCE;
       } else {