From 8b5410d4b119d4b92a00430c426acb7c2a0bbd45 Mon Sep 17 00:00:00 2001 From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com> Date: Sat, 21 Feb 2026 15:02:25 -0800 Subject: [PATCH] Update FieldConstants.java --- .../java/frc/robot/constants/FieldConstants.java | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java index 52ef288..037920c 100644 --- a/src/main/java/frc/robot/constants/FieldConstants.java +++ b/src/main/java/frc/robot/constants/FieldConstants.java @@ -11,21 +11,22 @@ import edu.wpi.first.wpilibj.DriverStation.Alliance; import frc.robot.Robot; public class FieldConstants { - /** Width of the field [meters] */ - public static final double FIELD_LENGTH = Units.inchesToMeters(57*12 + 6+7.0/8.0); - /** Height of the field [meters] */ - public static final double FIELD_WIDTH = Units.inchesToMeters(26*12 + 5); /**Apriltag layout for 2026 REBUILT */ public static final AprilTagFieldLayout field = AprilTagFieldLayout.loadField(AprilTagFields.k2026RebuiltWelded); + /** Width of the field [meters] */ + public static final double FIELD_LENGTH = field.getFieldLength(); + /** Height of the field [meters] */ + public static final double FIELD_WIDTH = field.getFieldWidth(); + public static final double RED_BORDER = Units.inchesToMeters(180); public static final double BLUE_BORDER = FIELD_LENGTH - Units.inchesToMeters(180); public static final double LEFT_SIDE_TARGET = FIELD_WIDTH * 0.25; public static final double RIGHT_SIDE_TARGET = FIELD_WIDTH * 0.75; - // TODO: Find this + /**The coordinate of the climb position */ - public static final Pose2d BLUE_CLIMB_LOCATION = new Pose2d(0, 0, new Rotation2d()); + public static final Pose2d BLUE_CLIMB_LOCATION = new Pose2d(1.5, FIELD_WIDTH/2 - 2.0, new Rotation2d()); public static final Pose2d RED_CLIMB_LOCATION = new Pose2d(0, 0, new Rotation2d()); public static final Pose2d getClimbLocation(){ -- 2.39.5