From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Sat, 11 Apr 2026 00:55:55 +0000 (-0700)
Subject: Turret working
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=66c042cccc5db9ba180c074db5e20e1465d567cc;p=FRC2026.git

Turret working
---

diff --git a/src/main/java/frc/robot/util/PhaseManager.java b/src/main/java/frc/robot/util/PhaseManager.java
index 02dffb9..1f985fc 100644
--- a/src/main/java/frc/robot/util/PhaseManager.java
+++ b/src/main/java/frc/robot/util/PhaseManager.java
@@ -61,9 +61,14 @@ public class PhaseManager {
 
     private void updateWantedState(Pose2d drivePose) {
         FieldZone zone = FieldConstants.getZone(drivePose.getTranslation());
-        if (zone == FieldConstants.FieldZone.UNDER_LADDER) {
-            wantedState = WantedState.IDLE;
-        } else if (zone == FieldConstants.FieldZone.ALLIANCE) {
+        // if (zone == FieldConstants.FieldZone.UNDER_LADDER) {
+        //     wantedState = WantedState.IDLE;
+        // } else if (zone == FieldConstants.FieldZone.ALLIANCE) {
+        //     wantedState = WantedState.SHOOTING;
+        // } else {
+        //     wantedState = WantedState.PASSING;
+        // }
+        if (zone == FieldConstants.FieldZone.ALLIANCE) {
             wantedState = WantedState.SHOOTING;
         } else {
             wantedState = WantedState.PASSING;
@@ -78,7 +83,6 @@ public class PhaseManager {
     }
     
     public boolean isIdle() { 
-
         return wantedState == WantedState.IDLE; 
     }