From 490100cb35e23e3b9541260d8cce1c1d8ad1ffc8 Mon Sep 17 00:00:00 2001 From: moo Date: Wed, 8 Apr 2026 15:37:31 -0700 Subject: [PATCH] new shuttling gradiant, focuses more on edges --- src/main/java/frc/robot/util/PhaseManager.java | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/util/PhaseManager.java b/src/main/java/frc/robot/util/PhaseManager.java index 02b266c..9fa7ac5 100644 --- a/src/main/java/frc/robot/util/PhaseManager.java +++ b/src/main/java/frc/robot/util/PhaseManager.java @@ -101,10 +101,11 @@ public class PhaseManager { double targetY; if (drivePose.getY() > 4.0) { - targetY = (FieldConstants.FIELD_WIDTH * 1.5) - drivePose.getY(); + targetY = (FieldConstants.FIELD_WIDTH * (11.0/8.0)) - (drivePose.getY() * .75); } else { - targetY = (FieldConstants.FIELD_WIDTH * 0.5) - drivePose.getY(); + targetY = (FieldConstants.FIELD_WIDTH * (3.0/8.0)) - (drivePose.getY() * .75); } + return new Translation2d(FieldConstants.getAllianceSideTranslation(true).getX(), targetY); } } -- 2.39.5