Merge branch 'main' into indexer

frc4911 · Mar 2, 2024 · a44df9c · a44df9c
2 parents 9c8898d + d338c73
commit a44df9c
Showing 1 changed file with 12 additions and 2 deletions.
diff --git a/src/main/java/com/cyberknights4911/robot2024/Robot2024.java b/src/main/java/com/cyberknights4911/robot2024/Robot2024.java
@@ -30,6 +30,7 @@
 import com.cyberknights4911.robot2024.shooter.Shooter;
 import com.cyberknights4911.robot2024.shooter.ShooterIO;
 import com.cyberknights4911.robot2024.shooter.ShooterIOSim;
+import com.cyberknights4911.util.Alliance;
 import com.cyberknights4911.util.GameAlerts;
 import com.cyberknights4911.util.SparkBurnManager;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -66,6 +67,15 @@ public Robot2024() {
   }
 
   private void configureControls() {
+    double x;
+    double y;
+    if (Alliance.isRed()) {
+      x = 652.73;
+      y = 218.42;
+    } else {
+      x = -1.50;
+      y = 218.42;
+    }
     drive.setDefaultCommand(
         drive.joystickDrive(
             Robot2024Constants.CONTROL_CONSTANTS,
@@ -106,8 +116,8 @@ private void configureControls() {
                 Robot2024Constants.CONTROL_CONSTANTS,
                 binding.supplierFor(StickAction.FORWARD),
                 binding.supplierFor(StickAction.STRAFE),
-                Units.inchesToMeters(652.73),
-                Units.inchesToMeters(218.42)));
+                Units.inchesToMeters(x),
+                Units.inchesToMeters(y)));
 
     binding.triggersFor(ButtonAction.StowShooter).onTrue(Commands.none());