From: iefomit <timofei.stem@gmail.com>
Date: Mon, 13 Apr 2026 20:57:54 +0000 (-0700)
Subject: no big ladder
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=a7c911eb97b1caa2acf8333db2f1c772fb73b5ce;p=FRC2026.git

no big ladder

just small ladder
---

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index 1fe654d..ad7fc07 100644
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -14,7 +14,6 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
 import frc.robot.constants.Constants;
 import frc.robot.constants.FieldConstants;
 import frc.robot.constants.ShotInterpolation;
diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java
index 12a5900..d0339b1 100644
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@ -57,24 +57,13 @@ public class FieldConstants {
 
   public static final Translation3d NEUTRAL_RIGHT = new Translation3d(FIELD_LENGTH / 2, RIGHT_SIDE_TARGET, 0);
 
-  public static final Translation3d ALLIANCE_LEFT_BLUE = new Translation3d(BLUE_BORDER - 3.2, LEFT_SIDE_TARGET, 0); // previous
-                                                                                                                    // hub
-                                                                                                                    // +
-                                                                                                                    // a
-                                                                                                                    // few
-                                                                                                                    // feet
-                                                                                                                    // further
-                                                                                                                    // back
+  // previous hub + a few feet further back
+  public static final Translation3d ALLIANCE_LEFT_BLUE = new Translation3d(BLUE_BORDER - 3.2, LEFT_SIDE_TARGET, 0);
 
   public static final Translation3d ALLIANCE_RIGHT_BLUE = new Translation3d(BLUE_BORDER - 2.2, RIGHT_SIDE_TARGET, 0);
+  // previous hub + a few feet further back
 
-  public static final Translation3d ALLIANCE_LEFT_RED = new Translation3d(RED_BORDER + 2.2, LEFT_SIDE_TARGET, 0); // previous
-                                                                                                                  // hub
-                                                                                                                  // + a
-                                                                                                                  // few
-                                                                                                                  // feet
-                                                                                                                  // further
-                                                                                                                  // back
+  public static final Translation3d ALLIANCE_LEFT_RED = new Translation3d(RED_BORDER + 2.2, LEFT_SIDE_TARGET, 0);
 
   public static final Translation3d ALLIANCE_RIGHT_RED = new Translation3d(RED_BORDER + 3.2, RIGHT_SIDE_TARGET, 0);
 
@@ -197,17 +186,6 @@ public class FieldConstants {
       return FieldZone.UNDER_LADDER;
     }
 
-    if ((y > -3.437731 && y < FieldConstants.FIELD_WIDTH - 3.437731)
-        && (x > (FieldConstants.BLUE_ALLIANCE_LINE + (DriveConstants.ROBOT_WIDTH_WITH_BUMPERS) / 2)
-            && (x < RED_ALLIANCE_LINE - (DriveConstants.ROBOT_WIDTH_WITH_BUMPERS / 2)))) {
-      if (Robot.getAlliance() == Alliance.Red && y > FieldConstants.FIELD_LENGTH / 2) {
-        return FieldZone.UNDER_LADDER;
-      }        
-      if (Robot.getAlliance() == Alliance.Blue && y < FieldConstants.FIELD_LENGTH / 2) {
-        return FieldZone.UNDER_LADDER;
-      }        
-    }
-
     if (x > FieldConstants.RED_ALLIANCE_LINE - (DriveConstants.ROBOT_WIDTH_WITH_BUMPERS) / 2) {
       return (Robot.getAlliance() == Alliance.Red) ? FieldZone.ALLIANCE : FieldZone.OPPOSITION;
     } else if (x < FieldConstants.BLUE_ALLIANCE_LINE + (DriveConstants.ROBOT_WIDTH_WITH_BUMPERS) / 2) {
diff --git a/src/main/java/frc/robot/util/PhaseManager.java b/src/main/java/frc/robot/util/PhaseManager.java
index 1f985fc..10fb76a 100644
--- a/src/main/java/frc/robot/util/PhaseManager.java
+++ b/src/main/java/frc/robot/util/PhaseManager.java
@@ -61,13 +61,13 @@ 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) {
-        //     wantedState = WantedState.SHOOTING;
-        // } else {
-        //     wantedState = WantedState.PASSING;
-        // }
+        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 {