diff --git a/src/main/java/org/team5924/frc2026/Constants.java b/src/main/java/org/team5924/frc2026/Constants.java
index 536c0ea6..fa17baa5 100644
--- a/src/main/java/org/team5924/frc2026/Constants.java
+++ b/src/main/java/org/team5924/frc2026/Constants.java
@@ -30,7 +30,7 @@
 import com.ctre.phoenix6.signals.SensorDirectionValue;
 
 import edu.wpi.first.math.util.Units;
-
+import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Translation3d;
 
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
@@ -80,6 +80,16 @@ public final class Field {
     public static final double CENTER_X = WIDTH / 2;
     public static final double CENTER_Y = LENGTH / 2;
     public static final double HUB_X = CENTER_X - 143.50;
+
+    public static final double TRENCH_X_ALLIANCE = Units.inchesToMeters(182.11);
+    public static final double TRENCH_X_OPPONENT = Units.inchesToMeters(469.11);
+    public static final double TRENCH_Y_LEFT = Units.inchesToMeters(292.718);
+    public static final double TRENCH_Y_RIGHT = Units.inchesToMeters(25.7);
+    public static final Translation2d[] TRENCH_TRANSLATIONS = {
+      new Translation2d(TRENCH_X_ALLIANCE, TRENCH_Y_RIGHT),
+      new Translation2d(TRENCH_X_ALLIANCE, TRENCH_Y_LEFT),
+      new Translation2d(TRENCH_X_OPPONENT, TRENCH_Y_RIGHT),
+      new Translation2d(TRENCH_X_OPPONENT, TRENCH_Y_LEFT)};
   }
 
   public final class GenericRollerSystem {
diff --git a/src/main/java/org/team5924/frc2026/RobotState.java b/src/main/java/org/team5924/frc2026/RobotState.java
index 20a4e9ea..9a8aff1b 100644
--- a/src/main/java/org/team5924/frc2026/RobotState.java
+++ b/src/main/java/org/team5924/frc2026/RobotState.java
@@ -18,6 +18,7 @@
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import lombok.Getter;
 import lombok.Setter;
 import org.littletonrobotics.junction.AutoLogOutput;
@@ -52,6 +53,8 @@ public static double getTime() {
   @Setter
   private Pose2d odometryPose = new Pose2d();
 
+  @Getter @Setter private ChassisSpeeds robotChassisSpeeds = new ChassisSpeeds();
+
   @Getter @Setter @AutoLogOutput private Pose2d estimatedPose = Pose2d.kZero;
 
   public void resetPose(Pose2d pose) {
diff --git a/src/main/java/org/team5924/frc2026/subsystems/awareness/FieldAwareness.java b/src/main/java/org/team5924/frc2026/subsystems/awareness/FieldAwareness.java
new file mode 100644
index 00000000..f34f20ea
--- /dev/null
+++ b/src/main/java/org/team5924/frc2026/subsystems/awareness/FieldAwareness.java
@@ -0,0 +1,37 @@
+package org.team5924.frc2026.subsystems.awareness;
+
+import org.team5924.frc2026.Constants;
+import org.team5924.frc2026.RobotState;
+
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+
+public class FieldAwareness {
+  private static FieldAwareness instance;
+
+
+  public static FieldAwareness getInstance() {
+    if (instance == null) instance = new FieldAwareness();
+    return instance;
+  }
+
+  private Translation2d[] getOffsetsToTrenches(){
+    Translation2d[] offsets = new Translation2d[4];
+    Translation2d robotPosition = RobotState.getInstance().getOdometryPose().getTranslation();
+
+    for (int i = 0; i < 4; i++) {
+      offsets[i] = Constants.Field.TRENCH_TRANSLATIONS[i].minus(robotPosition);
+    }
+
+    return offsets;
+  }
+
+  private void tdfyguijoi() { // TODO: name later
+    ChassisSpeeds speeds = RobotState.getInstance().getRobotChassisSpeeds();
+    Translation2d velocity = new Translation2d(speeds.vxMetersPerSecond, speeds.vyMetersPerSecond);
+
+    for (int i = 0; i < 4; i++) {
+      
+    }
+  }
+}
diff --git a/src/main/java/org/team5924/frc2026/subsystems/drive/Drive.java b/src/main/java/org/team5924/frc2026/subsystems/drive/Drive.java
index 743bb44a..17a99597 100644
--- a/src/main/java/org/team5924/frc2026/subsystems/drive/Drive.java
+++ b/src/main/java/org/team5924/frc2026/subsystems/drive/Drive.java
@@ -207,7 +207,7 @@ public Drive(
 
     // setpointGenerator = new SwerveSetpointGenerator(kinematics,
     // getModuleTranslations());
-    // previousSetpoint = new SwerveSetpoint(getChassisSpeeds(), getModuleStates());
+    // previousSetpoint = new SwerveSetpoint(getSpeeds(), getModuleStates());
 
     SmartDashboard.putData(
         "Swerve Drive",
@@ -305,6 +305,7 @@ public void periodic() {
     // Update RobotState
     RobotState.getInstance().setOdometryPose(getPose());
     RobotState.getInstance().setEstimatedPose(getPose());
+    RobotState.getInstance().setRobotChassisSpeeds(getChassisSpeeds());
 
     // prevents error spam
     if (!gyroInputs.connected && wasGyroConnected) {