From: moo <moogoesmeow123@gmail.com>
Date: Wed, 8 Apr 2026 22:37:31 +0000 (-0700)
Subject: new shuttling gradiant, focuses more on edges
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=490100cb35e23e3b9541260d8cce1c1d8ad1ffc8;p=FRC2026.git

new shuttling gradiant, focuses more on edges
---

diff --git a/src/main/java/frc/robot/util/PhaseManager.java b/src/main/java/frc/robot/util/PhaseManager.java
index 02b266c..9fa7ac5 100644
--- a/src/main/java/frc/robot/util/PhaseManager.java
+++ b/src/main/java/frc/robot/util/PhaseManager.java
@@ -101,10 +101,11 @@ public class PhaseManager {
             double targetY;
 
             if (drivePose.getY() > 4.0) {
-                targetY = (FieldConstants.FIELD_WIDTH * 1.5) - drivePose.getY();
+                targetY = (FieldConstants.FIELD_WIDTH * (11.0/8.0)) - (drivePose.getY() * .75);
             } else {
-                targetY = (FieldConstants.FIELD_WIDTH * 0.5) - drivePose.getY();
+                targetY = (FieldConstants.FIELD_WIDTH * (3.0/8.0)) - (drivePose.getY() * .75);
             }
+
             return new Translation2d(FieldConstants.getAllianceSideTranslation(true).getX(), targetY);
         }
     }