Merge remote-tracking branch 'origin/main' into week-2-merge-260307-3

Author: Arnav814

src/main/java/frc/robot/constants/FieldConstants.java

@@ -161,12 +161,15 @@ public static FieldZone getZone(Translation2d drivepose) {
         || x > FIELD_LENGTH/2 + Units.inchesToMeters(120.0) && x < RED_ALLIANCE_LINE) {
           return FieldZone.TRENCH_BUMP;
         }
-    if(((y < FIELD_WIDTH - (48.75 / 2) && y > FIELD_WIDTH - (48.75 / 2))) && (x < 47.0 || x > FIELD_LENGTH - 47.0)) {
+    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) {
       return FieldZone.UNDER_LADDER;
     }
-    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))) {
+    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.Red) {
       return FieldZone.UNDER_LADDER;
     }
+    // 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 (Robot.getAlliance() == Alliance.Red) {
         return FieldZone.ALLIANCE;

src/main/java/frc/robot/util/Zone.java

@@ -1,25 +1,18 @@
 package frc.robot.util;
 
-public class Zone {
-    public double x_center;
-    public double y_center;
-    public double width;
-    public double length;
+public record Zone(
+		double x_center,
+		double y_center,
+		double width,
+		double length) {
 
-    public Zone(double x_center, double y_center, double width, double length) {
-        this.x_center = x_center;
-        this.y_center = y_center;
-        this.width = width;
-        this.length = length;
-    }
-
-    public boolean isInside(double x, double y) {
-        if (x > x_center + (length / 2) || x < x_center - (length / 2)) {
-            return false;
-        }
-        if (y > y_center + (width / 2) || y < y_center - (width / 2)) {
-            return false;
-        }
-        return true;
-    }
+	public boolean isInside(double x, double y) {
+		if (x > x_center + (length / 2) || x < x_center - (length / 2)) {
+			return false;
+		}
+		if (y > y_center + (width / 2) || y < y_center - (width / 2)) {
+			return false;
+		}
+		return true;
+	}
 }