utils.odometry_logic_2026 

 1import wpilib
 2from wpimath.geometry import Pose2d
 3from constants.field_target_constants_2026 import FieldTargets2026
 4from typing import Callable
 5
 6
 7def determineShooterTargets2026(odometry: Callable[[],Pose2d], alliance: wpilib.DriverStation.Alliance):
 8    """
 9    Using the odometer and the robot's alliance, determine where on the field the shooter
10    should target.
11
12    Args:
13        odometry: polled current location and orientation of the robot on the field
14        alliance: red or blue
15
16    Returns:
17        target: the field location the shooter should target
18    """
19    odometryTranslation = odometry().translation()
20    if alliance == wpilib.DriverStation.Alliance.kRed:
21        if odometryTranslation.X() > FieldTargets2026.redHubTarget[0]:
22            target = FieldTargets2026.redHubTarget
23        elif odometryTranslation.Y() < FieldTargets2026.redHubTarget[1]:
24            target = FieldTargets2026.bottomRightTarget
25        else:
26            target = FieldTargets2026.topRightTarget
27    else:
28        if odometryTranslation.X() < FieldTargets2026.blueHubTarget[0]:
29            target = FieldTargets2026.blueHubTarget
30        elif odometryTranslation.Y() < FieldTargets2026.blueHubTarget[1]:
31            target = FieldTargets2026.bottomLeftTarget
32        else:
33            target = FieldTargets2026.topLeftTarget
34    return target
def determineShooterTargets2026( odometry: Callable[[], wpimath.geometry._geometry.Pose2d], alliance: wpilib._wpilib.DriverStation.Alliance): 
 8def determineShooterTargets2026(odometry: Callable[[],Pose2d], alliance: wpilib.DriverStation.Alliance):
 9    """
10    Using the odometer and the robot's alliance, determine where on the field the shooter
11    should target.
12
13    Args:
14        odometry: polled current location and orientation of the robot on the field
15        alliance: red or blue
16
17    Returns:
18        target: the field location the shooter should target
19    """
20    odometryTranslation = odometry().translation()
21    if alliance == wpilib.DriverStation.Alliance.kRed:
22        if odometryTranslation.X() > FieldTargets2026.redHubTarget[0]:
23            target = FieldTargets2026.redHubTarget
24        elif odometryTranslation.Y() < FieldTargets2026.redHubTarget[1]:
25            target = FieldTargets2026.bottomRightTarget
26        else:
27            target = FieldTargets2026.topRightTarget
28    else:
29        if odometryTranslation.X() < FieldTargets2026.blueHubTarget[0]:
30            target = FieldTargets2026.blueHubTarget
31        elif odometryTranslation.Y() < FieldTargets2026.blueHubTarget[1]:
32            target = FieldTargets2026.bottomLeftTarget
33        else:
34            target = FieldTargets2026.topLeftTarget
35    return target

Using the odometer and the robot's alliance, determine where on the field the shooter should target.

Args: odometry: polled current location and orientation of the robot on the field alliance: red or blue

Returns: target: the field location the shooter should target