public static void adjustY() {
		Pose myPose = Robot.getInstance().getOdometryPoseProvider().getPose();
		float offset = (float) (8.5*Math.sin(myPose.getHeading()*Math.PI/180));
		float[] distances = new float[5];
		distances[0] = Math.abs(myPose.getY() + offset + 120);
		distances[1] = Math.abs(myPose.getY() + offset + 60);
		distances[2] = Math.abs(myPose.getY() + offset);
		distances[3] = Math.abs(myPose.getY() + offset - 60);
		distances[4] = Math.abs(myPose.getY() + offset - 120);
		float val = distances[0];
		int min = 0;
		for(int i = 1; i < 5; i++) {
			if(distances[i] < val) {
				min = i;
				val = distances[i];
			}
		}
		switch(min)
		{
		case 0 :
			Robot.getInstance().getOdometryPoseProvider().setY(-120 - offset);
			break;
		case 1 :
			Robot.getInstance().getOdometryPoseProvider().setY(-60 - offset);
			break;
		case 2 :
			Robot.getInstance().getOdometryPoseProvider().setY(-offset);
			break;
		case 3 :
			Robot.getInstance().getOdometryPoseProvider().setY(60 - offset);
			break;
		case 4 :
			Robot.getInstance().getOdometryPoseProvider().setY(120 - offset);
			break;
		}
	}