Refactor AprilTagTargets.

Author: haydenheroux

src/main/java/frc/robot/RobotContainer.java

@@ -6,8 +6,6 @@
 
 import static edu.wpi.first.units.Units.*;
 
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -18,7 +16,6 @@
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.lib.Telemetry;
-import frc.robot.drive.AprilTagTargets;
 import frc.robot.drive.Drive;
 import frc.robot.drive.DriveFactory;
 import frc.robot.elevator.Elevator;
@@ -59,13 +56,16 @@ private RobotContainer() {
 
     drive = new Drive(DriveFactory.createSwerve());
     drive.setTargetPose(new Pose2d(3.616, -0.869, Rotation2d.kZero));
-    drive.setTargetPose(
-        () ->
-            drive
-                .getPose()
-                .nearest(
-                    AprilTagTargets.blueReefTargets(
-                        AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeAndyMark))));
+    /*
+        drive.setTargetPose(
+            () ->
+                drive
+                    .getPose()
+                    .nearest(
+                        AprilTagTargets.reefTargets(
+                            AprilTagFieldLayout.loadField(AprilTagFields.k2025ReefscapeAndyMark),
+                            DriverStation.getAlliance())));
+    */
 
     Telemetry.initializeTabs(elevator, pivot, drive);
 

src/main/java/frc/robot/drive/AprilTagTargets.java

@@ -6,6 +6,7 @@
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.DriverStation;
 import java.util.List;
+import java.util.Optional;
 import java.util.function.Predicate;
 
 public class AprilTagTargets {
@@ -39,10 +40,14 @@ public static List<Pose2d> redReefTargets(AprilTagFieldLayout layout) {
   }
 
   public static List<Pose2d> reefTargets(
-      AprilTagFieldLayout layout, DriverStation.Alliance alliance) {
-    return switch (alliance) {
-      case Blue -> blueReefTargets(layout);
-      case Red -> redReefTargets(layout);
-    };
+      AprilTagFieldLayout layout, Optional<DriverStation.Alliance> alliance) {
+    return alliance
+        .map(
+            value ->
+                switch (value) {
+                  case Blue -> blueReefTargets(layout);
+                  case Red -> redReefTargets(layout);
+                })
+        .orElseGet(List::of);
   }
 }