From 5061e75db6592361d18a3c0c2c5df0ce515c501a Mon Sep 17 00:00:00 2001 From: moo Date: Mon, 6 Apr 2026 10:50:02 -0700 Subject: [PATCH] gradual zones --- .../java/frc/robot/util/PhaseManager.java | 23 ++++++++++++++----- 1 file changed, 17 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/util/PhaseManager.java b/src/main/java/frc/robot/util/PhaseManager.java index c5e4451..27a085e 100644 --- a/src/main/java/frc/robot/util/PhaseManager.java +++ b/src/main/java/frc/robot/util/PhaseManager.java @@ -85,10 +85,21 @@ public class PhaseManager { } public Translation2d getTarget(Pose2d drivePose) { - return wantedState == WantedState.SHOOTING ? FieldConstants.getHubTranslation().toTranslation2d() - : (FieldConstants.isOnLeftSideOfField(drivePose.getTranslation()) - //TODO: reversed for sm reason - ? FieldConstants.getAllianceSideTranslation(false).toTranslation2d() - : FieldConstants.getAllianceSideTranslation(true).toTranslation2d()); + // return wantedState == WantedState.SHOOTING ? FieldConstants.getHubTranslation().toTranslation2d() + // : (FieldConstants.isOnLeftSideOfField(drivePose.getTranslation()) + // //TODO: reversed for sm reason + // ? FieldConstants.getAllianceSideTranslation(false).toTranslation2d() + // : FieldConstants.getAllianceSideTranslation(true).toTranslation2d()); + if (wantedState == WantedState.SHOOTING) { + return FieldConstants.getHubTranslation().toTranslation2d(); + } else { + double targetY; + if (drivePose.getY() > 4.0) { + targetY = FieldConstants.FIELD_WIDTH * 1.5 - drivePose.getY(); + } { + targetY = FieldConstants.FIELD_WIDTH * 0.5 - drivePose.getY(); + } + return new Translation2d(FieldConstants.getAllianceSideTranslation(true).getX(), targetY); + } } -} \ No newline at end of file +} -- 2.39.5