From 0d5a221f719e5c3d5f7e95d51390a23d1774720f Mon Sep 17 00:00:00 2001 From: mixxlto Date: Sun, 18 Jan 2026 20:02:07 -0800 Subject: [PATCH] Update PS5ControllerDriverConfig.java --- src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java index 29be150..a0d349e 100644 --- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java +++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java @@ -68,7 +68,7 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig { Translation2d drivepose = getDrivetrain().getPose().getTranslation(); // uses tag #?? int tagNumber = 17; - Translation2d tagpose = FieldConstants.APRIL_TAGS.get(tagNumber - 1).pose.toPose2d().getTranslation(); + Translation2d tagpose = FieldConstants.field.getTagPose(tagNumber).get().toPose2d().getTranslation(); double YDifference = tagpose.getY() - drivepose.getY(); double XDifference = tagpose.getX() - drivepose.getX(); double angle = Math.atan(YDifference/XDifference); -- 2.39.5