From 5d589f4fc0b37b295195f47faab1951d8d6085c0 Mon Sep 17 00:00:00 2001
From: Matt Soucy <git@msoucy.me>
Date: Sat, 8 Feb 2025 10:44:06 -0500
Subject: [PATCH] feat: Avoid magic numbers

---
 src/main/java/frc/robot/subsystems/Drive.java | 15 +++++----------
 1 file changed, 5 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
index e74a693..7b8458c 100644
--- a/src/main/java/frc/robot/subsystems/Drive.java
+++ b/src/main/java/frc/robot/subsystems/Drive.java
@@ -180,17 +180,12 @@ public Command aimAtReefCenter() {
     //
 
     public void filterReefTags() {
+        var reef = getOurReef();
         for (var key : visionData.targets.keySet()) {
-            if (isBlueAlliance) {
-                if (key < 6 || key > 11) {
-                    visionData.targets.remove(key);
-                }
-                // Pull in keySet from targets HashMap
-                // Remove all IDs / keys which aren't blue reef
-            } else {
-                if (key < 17 || key > 22) {
-                    visionData.targets.remove(key);
-                }
+            // Pull in keySet from targets HashMap
+            // Remove all IDs / keys which aren't our reef
+            if (reef.keySet().contains(key)) {
+                visionData.targets.remove(key);
             }
         }
     }