From 99aff59e516ef92793537c545f48f66246b766aa Mon Sep 17 00:00:00 2001 From: WesleyWong-972 Date: Wed, 25 Mar 2026 16:29:47 -0700 Subject: [PATCH] yay works --- src/main/java/frc/robot/commands/gpm/Superstructure.java | 2 +- src/main/java/frc/robot/constants/FieldConstants.java | 9 +++------ 2 files changed, 4 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java index fe58991..a65a01d 100644 --- a/src/main/java/frc/robot/commands/gpm/Superstructure.java +++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java @@ -229,7 +229,7 @@ public class Superstructure extends Command { hood.setFieldRelativeTarget(Rotation2d.fromDegrees(ShotInterpolation.newHoodMap.get(distanceFromTarget)), hoodVelocity); double x = drivepose.getX(); // compared as meters double y = drivepose.getY(); - System.out.println("X: " + x + "Y: " + y); + System.out.println("X: " + Units.metersToInches(x) + "Y: " + Units.metersToInches(y)); if (FieldConstants.underTrench(x, y)) { hood.forceHoodDown(true); System.out.println("Hood forced down"); diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java index d114d05..451307a 100644 --- a/src/main/java/frc/robot/constants/FieldConstants.java +++ b/src/main/java/frc/robot/constants/FieldConstants.java @@ -193,17 +193,14 @@ public class FieldConstants { public static boolean underTrench(double x, double y) { // ensures we aren't in center channel - if (y > Units.inchesToMeters(50.0 - ) && y < FIELD_WIDTH - Units.inchesToMeters(50)) { + if (y > Units.inchesToMeters(50.0) && y < FIELD_WIDTH - Units.inchesToMeters(50)) { return false; } // if our location is to far away from right underneath trench in terms of x - if (x - Units.inchesToMeters(180.0) > 0.1 || y - FIELD_LENGTH - Units.inchesToMeters(180.0) > 0.1) { + // in between blue alliance trench + if (!(x > Units.inchesToMeters(152.5) && x < Units.inchesToMeters(187.5)) && !(x < FIELD_LENGTH - Units.inchesToMeters(152.5) && x > FIELD_LENGTH - Units.inchesToMeters(187.5))) { return false; } - // if (!(x > Units.inchesToMeters(182.5) && x < Units.inchesToMeters(230.0)) || !(x < Units.inchesToMeters(FIELD_LENGTH - 182.5) && x > Units.inchesToMeters(FIELD_LENGTH - 230.0))) { - // return false; - // } return true; } -- 2.39.5