From 6e12cc06cd863cf31c85ad7c3b397d58667bb315 Mon Sep 17 00:00:00 2001 From: WesleyWong-972 Date: Wed, 8 Apr 2026 15:44:26 -0700 Subject: [PATCH] Revert "new shuttling gradiant, focuses more on edges" This reverts commit 490100cb35e23e3b9541260d8cce1c1d8ad1ffc8. --- src/main/java/frc/robot/util/PhaseManager.java | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/util/PhaseManager.java b/src/main/java/frc/robot/util/PhaseManager.java index 9fa7ac5..02b266c 100644 --- a/src/main/java/frc/robot/util/PhaseManager.java +++ b/src/main/java/frc/robot/util/PhaseManager.java @@ -101,11 +101,10 @@ public class PhaseManager { double targetY; if (drivePose.getY() > 4.0) { - targetY = (FieldConstants.FIELD_WIDTH * (11.0/8.0)) - (drivePose.getY() * .75); + targetY = (FieldConstants.FIELD_WIDTH * 1.5) - drivePose.getY(); } else { - targetY = (FieldConstants.FIELD_WIDTH * (3.0/8.0)) - (drivePose.getY() * .75); + targetY = (FieldConstants.FIELD_WIDTH * 0.5) - drivePose.getY(); } - return new Translation2d(FieldConstants.getAllianceSideTranslation(true).getX(), targetY); } } -- 2.39.5