From 67f0108189beb193d3f036e8416b9fe09762a61b Mon Sep 17 00:00:00 2001
From: Jonah <47046556+jwbonner@users.noreply.github.com>
Date: Tue, 13 Feb 2024 17:31:17 -0500
Subject: [PATCH] Fix speaker opening constant

---
 .../java/org/littletonrobotics/frc2024/FieldConstants.java | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/src/main/java/org/littletonrobotics/frc2024/FieldConstants.java b/src/main/java/org/littletonrobotics/frc2024/FieldConstants.java
index 348dbb1f..501e5578 100644
--- 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);