Bump slowdown

src/main/java/frc/robot/DriverJoystick.java

@@ -2,9 +2,11 @@
 
 import edu.wpi.first.math.filter.LinearFilter;
 import edu.wpi.first.math.filter.SlewRateLimiter;
+import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.constants.DriveConstants;
+import frc.robot.constants.FieldConstants;
 import frc.robot.constants.IOConstants;
 import frc.robot.libraries.XboxController1038;
 import frc.robot.subsystems.DriveTrain;
@@ -49,6 +51,16 @@ private DriverJoystick() {
         super(IOConstants.DRIVER_CONTROLLER_PORT);
 
         driveTrain.setDefaultCommand(this.driveTrain.applyRequest(() -> {
+            if (maxPower != DriveConstants.OVERDRIVE_POWER) {
+                Translation2d translation = new Translation2d(driveTrain.getState().Pose.getX(),
+                        driveTrain.getState().Pose.getY());
+                if (FieldConstants.LEFT_BUMP.contains(translation) || FieldConstants.RIGHT_BUMP.contains(translation)) {
+                    maxPower = DriveConstants.BUMP_SLOWDOWN_POWER;
+                } else {
+                    maxPower = DriveConstants.DEFAULT_MAX_POWER;
+                }
+            }
+
             double sideways = this.getSidewaysValue();
             double forward = this.getForwardValue();
             double rotate = this.getRotateValue();

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

@@ -15,6 +15,7 @@ public final class DriveConstants {
 
     public static final double DEFAULT_MAX_POWER = 0.75;
     public static final double OVERDRIVE_POWER = 1.0;
+    public static final double BUMP_SLOWDOWN_POWER = 0.3;
 
     // Chassis configuration
     // Distance between centers of right and left wheels on robot

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

@@ -0,0 +1,25 @@
+package frc.robot.constants;
+
+import com.pathplanner.lib.util.FlippingUtil;
+
+import edu.wpi.first.math.geometry.Rectangle2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.util.Units;
+
+public final class FieldConstants {
+    private FieldConstants() {
+    }
+
+    private static final double HUB_EDGE_DISTANCE_FROM_DRIVER_STATION = Units.inchesToMeters(158.6);
+    private static final double BUMP_LENGTH = Units.inchesToMeters(44.4);
+    private static final double BUMP_WIDTH = Units.inchesToMeters(73);
+    private static final double TRENCH_WIDTH = Units.inchesToMeters(65.65);
+    private static final double LEFT_BUMP_DISTANCE = TRENCH_WIDTH;
+    private static final double RIGHT_BUMP_DISTANCE = FlippingUtil.fieldSizeY - TRENCH_WIDTH - BUMP_WIDTH;
+    public static final Rectangle2d LEFT_BUMP = new Rectangle2d(
+            new Translation2d(HUB_EDGE_DISTANCE_FROM_DRIVER_STATION, LEFT_BUMP_DISTANCE),
+            new Translation2d(HUB_EDGE_DISTANCE_FROM_DRIVER_STATION + BUMP_WIDTH, LEFT_BUMP_DISTANCE + BUMP_LENGTH));
+    public static final Rectangle2d RIGHT_BUMP = new Rectangle2d(
+            new Translation2d(HUB_EDGE_DISTANCE_FROM_DRIVER_STATION, RIGHT_BUMP_DISTANCE),
+            new Translation2d(HUB_EDGE_DISTANCE_FROM_DRIVER_STATION + BUMP_WIDTH, RIGHT_BUMP_DISTANCE + BUMP_LENGTH));
+}