From: Wesley28w <wesleycwong@gmail.com>
Date: Tue, 10 Feb 2026 00:58:17 +0000 (-0800)
Subject: Merge branch 'beta-bot' of https://github.com/iron-claw-972/FRC2026 into beta-bot
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=e420f8f75e066a989250051c7e6570cf4dba2f4e;p=FRC2026.git

Merge branch 'beta-bot' of https://github.com/iron-claw-972/FRC2026 into beta-bot
---

e420f8f75e066a989250051c7e6570cf4dba2f4e
diff --cc src/main/java/frc/robot/constants/FieldConstants.java
index 7033592,8bfba15..d2ad566
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@@ -32,32 -28,21 +32,31 @@@ public class FieldConstants 
    /** Location of hub target */
    public static final Translation3d HUB_BLUE =
        new Translation3d(Units.inchesToMeters(156.8 + 20), 4.035 + .67, Units.inchesToMeters(72));
 +  
 +  public static final Translation3d HUB_RED =
 +      new Translation3d(FIELD_LENGTH - Units.inchesToMeters(156.8 + 20), 4.035 + .67, Units.inchesToMeters(72));
      
-   // TODO: Update all of this
    public static final Translation3d NEUTRAL_LEFT =
 -    new Translation3d(field.getFieldLength()*0.5, field.getFieldWidth()*0.25, 0);
 +    new Translation3d(FIELD_LENGTH/2, LEFT_SIDE_TARGET, 0);
  
    public static final Translation3d NEUTRAL_RIGHT =
 -    new Translation3d(field.getFieldLength()*0.5, field.getFieldWidth() - NEUTRAL_LEFT.getX(), 0);
 +    new Translation3d(FIELD_LENGTH/2, RIGHT_SIDE_TARGET, 0);
  
    public static final Translation3d ALLIANCE_LEFT_BLUE =
 -    new Translation3d(156.8+20+50, field.getFieldWidth()*0.25, 0); // previous hub + a few feet further back
 +    new Translation3d(BLUE_BORDER + 5, LEFT_SIDE_TARGET, 0); // previous hub + a few feet further back
  
    public static final Translation3d ALLIANCE_RIGHT_BLUE =
 -    new Translation3d(158.8+20+50, field.getFieldWidth() - ALLIANCE_LEFT_BLUE.getX(), 0);
 +    new Translation3d(BLUE_BORDER + 5, RIGHT_SIDE_TARGET, 0);
  
 -  public static final double BlueAllianceLine = FieldConstants.FIELD_LENGTH * 0.75;
 -  public static final double RedAllianceLine = FieldConstants.FIELD_LENGTH * 0.25;
 +
 +  public static final Translation3d ALLIANCE_LEFT_RED =
 +    new Translation3d(RED_BORDER + 5, LEFT_SIDE_TARGET, 0); // previous hub + a few feet further back
 +
 +  public static final Translation3d ALLIANCE_RIGHT_RED =
 +    new Translation3d(RED_BORDER + 5, RIGHT_SIDE_TARGET, 0);
 +
 +  public static final double BlueAllianceLine = BLUE_BORDER; // That's the distance from one side to the blue bump
 +  public static final double RedAllianceLine = RED_BORDER; // 
  
    public static Translation3d getHubTranslation() {
      if (Robot.getAlliance() == Alliance.Blue) {