From 6ba0e096e8e8ac924ae2aec236b7cc9db8b08eca Mon Sep 17 00:00:00 2001 From: moo Date: Sun, 8 Mar 2026 11:14:51 -0700 Subject: [PATCH] better numbies --- src/main/java/frc/robot/constants/FieldConstants.java | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java index c401fca..e2849f1 100644 --- a/src/main/java/frc/robot/constants/FieldConstants.java +++ b/src/main/java/frc/robot/constants/FieldConstants.java @@ -162,7 +162,10 @@ public class FieldConstants { || x > FIELD_LENGTH/2 + Units.inchesToMeters(120.0) && x < RED_ALLIANCE_LINE) { return FieldZone.TRENCH_BUMP; } - if(((y < FIELD_WIDTH - (Units.inchesToMeters(48.75 / 2) + 0.158750) && y > FIELD_WIDTH - Units.inchesToMeters(48.75 / 2) - 0.736600)) && (x < Units.inchesToMeters(47.0) || x > FIELD_LENGTH - Units.inchesToMeters(47.0))) { + if(((y < (FIELD_WIDTH / 2) + 0.158750) && y > (FIELD_WIDTH / 2) - 0.736600) && (x < Units.inchesToMeters(47.0) || x > FIELD_LENGTH - Units.inchesToMeters(47.0)) && Robot.getAlliance() == Alliance.Blue) { + return FieldZone.UNDER_LADDER; + } + if(((y < (FIELD_WIDTH / 2) - 0.158750) && y > (FIELD_WIDTH / 2) + 0.736600) && (x < Units.inchesToMeters(47.0) || x > FIELD_LENGTH - Units.inchesToMeters(47.0)) && Robot.getAlliance() == Alliance.Red) { return FieldZone.UNDER_LADDER; } // if(((y < FIELD_WIDTH - (46.75 / 2) && y > FIELD_WIDTH - (46.75 / 2))) && ((x > 207.42375 && x < 207.42375 + 36.0) || (x < FIELD_LENGTH - 207.42375 && x > FIELD_LENGTH - 207.42375 - 36.0))) { -- 2.39.5