From 8fa1736b49aeba782149f13c30b000fe83f60ea5 Mon Sep 17 00:00:00 2001 From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com> Date: Fri, 10 Apr 2026 11:51:10 -0700 Subject: [PATCH] revert --- .../java/frc/robot/util/PhaseManager.java | 22 +++++-------------- 1 file changed, 5 insertions(+), 17 deletions(-) diff --git a/src/main/java/frc/robot/util/PhaseManager.java b/src/main/java/frc/robot/util/PhaseManager.java index bcc3ab1..02dffb9 100644 --- a/src/main/java/frc/robot/util/PhaseManager.java +++ b/src/main/java/frc/robot/util/PhaseManager.java @@ -88,22 +88,10 @@ 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()); - if (wantedState == WantedState.SHOOTING) { - return FieldConstants.getHubTranslation().toTranslation2d(); - } else { - double targetY; - - if (drivePose.getY() > 4.0) { - targetY = (FieldConstants.FIELD_WIDTH * 1.5) - drivePose.getY(); - } else { - targetY = (FieldConstants.FIELD_WIDTH * 0.5) - drivePose.getY(); - } - return new Translation2d(FieldConstants.getAllianceSideTranslation(true).getX(), targetY); - } + return wantedState == WantedState.SHOOTING ? FieldConstants.getHubTranslation().toTranslation2d() + : (FieldConstants.isOnLeftSideOfField(drivePose.getTranslation()) + //TODO: reversed for sm reason + ? FieldConstants.getAllianceSideTranslation(false).toTranslation2d() + : FieldConstants.getAllianceSideTranslation(true).toTranslation2d()); } } -- 2.39.5