Fix speaker opening constant

Mechanical-Advantage · Feb 13, 2024 · 67f0108 · 67f0108
1 parent 4551aba
commit 67f0108
Showing 1 changed file with 2 additions and 5 deletions.
diff --git a/src/main/java/org/littletonrobotics/frc2024/FieldConstants.java b/src/main/java/org/littletonrobotics/frc2024/FieldConstants.java
@@ -72,7 +72,7 @@ public static final class Speaker {
         new Translation3d(
             Units.inchesToMeters(18.055),
             Units.inchesToMeters(238.815),
-            Units.inchesToMeters(13.091));
+            Units.inchesToMeters(83.091));
 
     public static Translation3d topLeftSpeaker =
         new Translation3d(
@@ -87,10 +87,7 @@ public static final class Speaker {
 
     /** Center of the speaker opening (blue alliance) */
     public static Translation3d centerSpeakerOpening =
-        new Translation3d(
-            topLeftSpeaker.getX() / 2.0,
-            fieldWidth - Units.inchesToMeters(104.0),
-            (bottomLeftSpeaker.getZ() + bottomRightSpeaker.getZ()) / 2.0);
+        bottomLeftSpeaker.interpolate(topRightSpeaker, 0.5);
   }
 
   public static double aprilTagWidth = Units.inchesToMeters(6.50);