Alliance transform utils. Still definitely a WIP. Only quarter done

utils/allianceTransformUtils.py

@@ -0,0 +1,26 @@
+import wpilib
+from wpilib import DriverStation
+from hal import AllianceStationID
+
+from wpimath.geometry import Pose2d, Rotation2d, Transform2d, Translation2d
+from wpimath.geometry import Pose2d, Rotation2d, Transform2d, Translation2d
+from wpimath.geometry import Pose2d, Rotation2d, Transform2d, Translation2d
+from wpimath.geometry import Pose2d, Rotation2d, Transform2d, Translation2d
+from wpimath.geometry import Pose2d, Rotation2d, Transform2d, Translation2d
+
+"""
+ Utilities to help transform from blue alliance to red if needed
+ We went rogue and chose a coordinate system where the origin is always in the 
+ bottom left on the blue alliance
+"""
+class AllianceTransformUtils:
+    @staticmethod
+    def transformX(in):
+        if DriverStation.getAlliance() == AllianceStationID.Red:
+            return Constants.FIELD_LENGTH_M - in
+        else:
+            return in
+
+    def transformY(in):
+        return in
+