From 02774123ca6d6d9c0ae6b4b13ebe45ae49218e30 Mon Sep 17 00:00:00 2001
From: kacperowyy <gutus1911@gmail.com>
Date: Thu, 19 Mar 2026 15:34:17 +0100
Subject: [PATCH] Adjust aim depending on alliance

---
 src/main/java/frc/robot/subsystems/Vision/Aim.java | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/Vision/Aim.java b/src/main/java/frc/robot/subsystems/Vision/Aim.java
index 5450328..4b8d3a8 100644
--- a/src/main/java/frc/robot/subsystems/Vision/Aim.java
+++ b/src/main/java/frc/robot/subsystems/Vision/Aim.java
@@ -103,6 +103,10 @@ public Pose2d findPoseForShoot() {
 
         // Rotation facing toward the tag
         Rotation2d targetRotation = new Rotation2d(toTag.getX(), toTag.getY());
+        var alliance = DriverStation.getAlliance();
+        if (alliance.isPresent() && alliance.get() == DriverStation.Alliance.Red) {
+            targetRotation = targetRotation.plus(Rotation2d.fromDegrees(180));
+        }
 
         Pose2d shootingPose = new Pose2d(targetTranslation, targetRotation);