From a8467804c40e66258ab196a1d269da2c7412a7c1 Mon Sep 17 00:00:00 2001 From: WesleyWong-972 Date: Thu, 12 Mar 2026 22:25:43 -0700 Subject: [PATCH] Updated trench zone for shooting --- src/main/java/frc/robot/constants/FieldConstants.java | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/constants/FieldConstants.java b/src/main/java/frc/robot/constants/FieldConstants.java index 06ff2a0..7ee502a 100644 --- a/src/main/java/frc/robot/constants/FieldConstants.java +++ b/src/main/java/frc/robot/constants/FieldConstants.java @@ -10,6 +10,7 @@ import edu.wpi.first.math.util.Units; import frc.robot.util.Zone; import edu.wpi.first.wpilibj.DriverStation.Alliance; import frc.robot.Robot; +import frc.robot.constants.swerve.DriveConstants; public class FieldConstants { @@ -157,8 +158,8 @@ public class FieldConstants { double x = drivepose.getX(); double y = drivepose.getY(); //double y = drivepose.getY(); - if ((x < FIELD_LENGTH/2 - Units.inchesToMeters(120.0) && x > BLUE_ALLIANCE_LINE) - || x > FIELD_LENGTH/2 + Units.inchesToMeters(120.0) && x < RED_ALLIANCE_LINE) { + if ((x < FIELD_LENGTH/2 - Units.inchesToMeters(120.0) && x > (BLUE_ALLIANCE_LINE - (DriveConstants.ROBOT_WIDTH_WITH_BUMPERS)/2)) //blue alliance line + || x > FIELD_LENGTH/2 + Units.inchesToMeters(120.0) && x < (RED_ALLIANCE_LINE - (DriveConstants.ROBOT_WIDTH_WITH_BUMPERS)/2)) { return FieldZone.TRENCH_BUMP; } 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) { @@ -170,13 +171,13 @@ public class FieldConstants { // 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))) { // return FieldZone.UNDER_LADDER; // } - if(x > FieldConstants.RED_ALLIANCE_LINE) { // inside red + if(x > FieldConstants.RED_ALLIANCE_LINE - (DriveConstants.ROBOT_WIDTH_WITH_BUMPERS)/2) { // inside red if (Robot.getAlliance() == Alliance.Red) { return FieldZone.ALLIANCE; } else { return FieldZone.OPPOSITION; } - } else if (x < FieldConstants.BLUE_ALLIANCE_LINE) { + } else if (x < FieldConstants.BLUE_ALLIANCE_LINE - (DriveConstants.ROBOT_WIDTH_WITH_BUMPERS)/2) { if (Robot.getAlliance() == Alliance.Blue) { return FieldZone.ALLIANCE; } else { -- 2.39.5