From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Mon, 6 Apr 2026 19:06:54 +0000 (-0700)
Subject: shuttling works
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=b5eac5eace0bbe276e422a325d80c3e68b64764e;p=FRC2026.git

shuttling works
---

diff --git a/src/main/java/frc/robot/util/PhaseManager.java b/src/main/java/frc/robot/util/PhaseManager.java
index 27a085e..6f98d64 100644
--- a/src/main/java/frc/robot/util/PhaseManager.java
+++ b/src/main/java/frc/robot/util/PhaseManager.java
@@ -1,5 +1,7 @@
 package frc.robot.util;
 
+import org.littletonrobotics.junction.Logger;
+
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import frc.robot.constants.FieldConstants;
@@ -76,6 +78,7 @@ public class PhaseManager {
     }
     
     public boolean isIdle() { 
+
         return wantedState == WantedState.IDLE; 
     }
     
@@ -94,10 +97,11 @@ public class PhaseManager {
             return FieldConstants.getHubTranslation().toTranslation2d();
         } else  {
             double targetY;
+
             if (drivePose.getY() > 4.0) {
-                targetY = FieldConstants.FIELD_WIDTH * 1.5 - drivePose.getY();
-            } {
-                targetY = FieldConstants.FIELD_WIDTH * 0.5 - drivePose.getY();
+                targetY = (FieldConstants.FIELD_WIDTH * 1.5) - drivePose.getY();
+            } else {
+                targetY = (FieldConstants.FIELD_WIDTH * 0.5) - drivePose.getY();
             }
             return new Translation2d(FieldConstants.getAllianceSideTranslation(true).getX(), targetY);
         }