From: WesleyWong-972 <wesleycwong@gmail.com>
Date: Wed, 8 Apr 2026 22:44:26 +0000 (-0700)
Subject: Revert "new shuttling gradiant, focuses more on edges"
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=6e12cc06cd863cf31c85ad7c3b397d58667bb315;p=FRC2026.git

Revert "new shuttling gradiant, focuses more on edges"

This reverts commit 490100cb35e23e3b9541260d8cce1c1d8ad1ffc8.
---

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