From 4531dbf39f71ec907ca1e77d3908bd9f13ead7a8 Mon Sep 17 00:00:00 2001
From: Wesley28w <wesleycwong@gmail.com>
Date: Thu, 19 Mar 2026 16:15:56 -0700
Subject: [PATCH] fixed field

---
 src/main/java/frc/robot/constants/FieldConstants.java | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java
index dc62978..5dc7aa1 100644
--- a/src/main/java/frc/robot/constants/FieldConstants.java
+++ b/src/main/java/frc/robot/constants/FieldConstants.java
@@ -188,6 +188,16 @@ public class FieldConstants {
     }
   }
 
+  public static boolean underTrench(double x, double y) {
+    if (y > Units.inchesToMeters(50.0) && y < FIELD_WIDTH - Units.inchesToMeters(50)) {
+      return false;
+    }
+    if (!(x > Units.inchesToMeters(182.5) && x < Units.inchesToMeters(230.0)) || !(x < Units.inchesToMeters(FIELD_LENGTH - 182.5) && x > Units.inchesToMeters(FIELD_LENGTH - 230.0))) {
+      return false;
+    }
+    return true;
+  }
+  
   /**
    * 
    * @return Whether Y coordinate is in the upper half (left side on blue alliance)
-- 
2.39.5