From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Fri, 20 Feb 2026 21:54:00 +0000 (-0800)
Subject: merge
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=e60e7ff94e36b277f1fb8ed31de5a5d55179e659;p=FRC2026.git

merge
---

e60e7ff94e36b277f1fb8ed31de5a5d55179e659
diff --cc src/main/java/frc/robot/constants/FieldConstants.java
index 8a4924c,7feba79..52ef288
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@@ -2,7 -2,8 +2,9 @@@ package frc.robot.constants
  
  import edu.wpi.first.apriltag.AprilTagFieldLayout;
  import edu.wpi.first.apriltag.AprilTagFields;
 +import edu.wpi.first.math.geometry.Translation2d;
+ import edu.wpi.first.math.geometry.Pose2d;
+ import edu.wpi.first.math.geometry.Rotation2d;
  import edu.wpi.first.math.geometry.Translation3d;
  import edu.wpi.first.math.util.Units;
  import edu.wpi.first.wpilibj.DriverStation.Alliance;
@@@ -17,10 -18,19 +19,23 @@@ public class FieldConstants 
    /**Apriltag layout for 2026 REBUILT */
    public static final AprilTagFieldLayout field = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltWelded);
  
 +  public static final double RED_BORDER = Units.inchesToMeters(180);
 +  public static final double BLUE_BORDER = FIELD_LENGTH - Units.inchesToMeters(180);
 +  public static final double LEFT_SIDE_TARGET = FIELD_WIDTH * 0.25;
 +  public static final double RIGHT_SIDE_TARGET = FIELD_WIDTH * 0.75;
+   // TODO: Find this
+   /**The coordinate of the climb position */
+   public static final Pose2d BLUE_CLIMB_LOCATION = new Pose2d(0, 0, new Rotation2d());
+   public static final Pose2d RED_CLIMB_LOCATION = new Pose2d(0, 0, new Rotation2d());
+ 
+   public static final Pose2d getClimbLocation(){
+     if (Robot.getAlliance() == Alliance.Blue){
+       return BLUE_CLIMB_LOCATION;
+     }
+     else{
+       return RED_CLIMB_LOCATION;
+     }
+   }
  
    /** Location of hub target */
    public static final Translation3d HUB_BLUE =