From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Fri, 13 Mar 2026 22:01:20 +0000 (-0700)
Subject: pushing
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=7cc2175e207f065833dccde1fe27dc7f827e10d0;p=FRC2026.git

pushing
---

diff --git a/src/main/deploy/pathplanner/paths/Full Left Path v3.path b/src/main/deploy/pathplanner/paths/Full Left Path v3.path
index 0017492..548cb99 100644
--- a/src/main/deploy/pathplanner/paths/Full Left Path v3.path	
+++ b/src/main/deploy/pathplanner/paths/Full Left Path v3.path	
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 4.0,
+        "x": 3.8,
         "y": 7.623190984573506
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.193921116983211,
+        "x": 6.993921116983211,
         "y": 7.623190984573506
       },
       "isLocked": false,
@@ -80,28 +80,12 @@
     },
     {
       "anchor": {
-        "x": 2.6967378410438916,
-        "y": 7.031435349940688
-      },
-      "prevControl": {
-        "x": 3.336191665489592,
-        "y": 7.488201938773801
-      },
-      "nextControl": {
-        "x": 2.4696060632890897,
-        "y": 6.869193443841226
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 1.8682799525504161,
-        "y": 5.084
+        "x": 0.6955278766310802,
+        "y": 7.623190984573506
       },
       "prevControl": {
-        "x": 1.8804205947396213,
-        "y": 5.5984071344829935
+        "x": -0.09030729073703303,
+        "y": 7.623190984573506
       },
       "nextControl": null,
       "isLocked": false,
@@ -130,15 +114,15 @@
       "rotationDegrees": 180.0
     },
     {
-      "waypointRelativePos": 4.95,
-      "rotationDegrees": -89.50334218867351
+      "waypointRelativePos": 5,
+      "rotationDegrees": 180.0
     }
   ],
   "constraintZones": [
     {
       "name": "Depot",
       "minWaypointRelativePos": 4.953880764904385,
-      "maxWaypointRelativePos": 6.0,
+      "maxWaypointRelativePos": 5.5,
       "constraints": {
         "maxVelocity": 0.5,
         "maxAcceleration": 2.0,
@@ -286,8 +270,8 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 0,
-    "rotation": -90.37860096211433
+    "velocity": 0.0,
+    "rotation": 180.0
   },
   "reversed": false,
   "folder": "week 2 autos",
diff --git a/src/main/deploy/pathplanner/paths/shoot from start.path b/src/main/deploy/pathplanner/paths/shoot from start.path
index a5ca0d7..134466a 100644
--- a/src/main/deploy/pathplanner/paths/shoot from start.path	
+++ b/src/main/deploy/pathplanner/paths/shoot from start.path	
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 4.0,
+        "x": 3.8,
         "y": 7.623
       },
       "prevControl": {
-        "x": 3.7421509693935855,
+        "x": 3.5421509693935853,
         "y": 7.623
       },
       "nextControl": null,
diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java
index 7ee502a..a27153d 100644
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@ -158,8 +158,8 @@ public class FieldConstants {
     double x = drivepose.getX();
     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)) {
+    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)) {
           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) {
@@ -171,13 +171,13 @@ public class FieldConstants {
     // 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 {
         return FieldZone.OPPOSITION;
       }
-    } else if (x < FieldConstants.BLUE_ALLIANCE_LINE - (DriveConstants.ROBOT_WIDTH_WITH_BUMPERS)/2) {
+    } else if (x < FieldConstants.BLUE_ALLIANCE_LINE + (DriveConstants.ROBOT_WIDTH_WITH_BUMPERS)/2) {
       if (Robot.getAlliance() == Alliance.Blue) {
         return FieldZone.ALLIANCE;
       } else {