From: iefomit <timofei.stem@gmail.com>
Date: Sun, 22 Mar 2026 02:58:31 +0000 (-0700)
Subject: use underTrench() instead
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=e5711db215ee4e2d7042ad4a8913768001d2a84c;p=FRC2026.git

use underTrench() instead
---

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index 9d10b47..ce01637 100644
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -17,7 +17,6 @@ import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.constants.Constants;
 import frc.robot.constants.FieldConstants;
 import frc.robot.constants.ShotInterpolation;
-import frc.robot.constants.FieldConstants.FieldZone;
 import frc.robot.subsystems.drivetrain.Drivetrain;
 import frc.robot.subsystems.hood.Hood;
 import frc.robot.subsystems.hood.HoodConstants;
@@ -228,8 +227,7 @@ public class Superstructure extends Command {
             // }
 
             hood.setFieldRelativeTarget(Rotation2d.fromDegrees(ShotInterpolation.newHoodMap.get(distanceFromTarget)), hoodVelocity);
-            Translation2d trans2d = new Translation2d(drivepose.getX(), drivepose.getY());
-            if (FieldConstants.getZone(trans2d) == FieldZone.TRENCH_BUMP) {
+            if (FieldConstants.underTrench(drivepose.getX(), drivepose.getY())) {
                 hood.forceHoodDown(true);
             } else {
                 hood.forceHoodDown(false);