diff --git a/src/main/java/frc/robot/subsystems/launcher/LaunchCalculator.java b/src/main/java/frc/robot/subsystems/launcher/LaunchCalculator.java
index a9fa467c..cc74bdfd 100644
--- a/src/main/java/frc/robot/subsystems/launcher/LaunchCalculator.java
+++ b/src/main/java/frc/robot/subsystems/launcher/LaunchCalculator.java
@@ -13,6 +13,7 @@
 import frc.robot.subsystems.drivebase.CommandSwerveDrivetrain;
 import frc.robot.util.AllianceUtils;
 import frc.robot.util.GetTargetFromPose;
+import frc.robot.util.TrenchUtil;
 import frc.robot.util.tuning.LauncherConstants;
 import java.util.ArrayList;
 import java.util.List;
@@ -430,14 +431,14 @@ public static boolean isApproachingTrench(Pose2d robotPose, ChassisSpeeds speeds
   }
 
   public static boolean isCloseToTrench(Pose2d pose) {
-    Pose2d nearestTag = pose.nearest(trenchTags);
+    Pose2d nearestTag = TrenchUtil.nearestTrenchTag(pose.getTranslation());
     double dx = Math.abs(pose.getX() - nearestTag.getX());
     double dy = Math.abs(pose.getY() - nearestTag.getY());
     return dx < TURRET_TO_TRENCH_TOLERANCE_X && dy < TURRET_TO_TRENCH_TOLERANCE_Y;
   }
 
   public static boolean isUnderClimb(Pose2d turretPose) {
-    Pose2d nearestTag = turretPose.nearest(underclimbTags);
+    Pose2d nearestTag = TrenchUtil.nearestTrenchTag(turretPose.getTranslation());
     double dx = Math.abs(turretPose.getX() - nearestTag.getX());
     double dy = Math.abs(turretPose.getY() - nearestTag.getY());
     return dx < TURRET_TO_UNDERCLIMB_TOLERANCE_X && dy < TURRET_TO_UNDERCLIMB_TOLERANCE_Y;
diff --git a/src/main/java/frc/robot/util/TrenchUtil.java b/src/main/java/frc/robot/util/TrenchUtil.java
new file mode 100644
index 00000000..17c6f700
--- /dev/null
+++ b/src/main/java/frc/robot/util/TrenchUtil.java
@@ -0,0 +1,65 @@
+package frc.robot.util;
+
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rectangle2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.wpilibj.DriverStation;
+import java.util.Objects;
+
+public final class TrenchUtil {
+  private static final double FIELD_LENGTH = AllianceUtils.FIELD_LAYOUT.getFieldLength();
+  private static final double FIELD_WIDTH = AllianceUtils.FIELD_LAYOUT.getFieldWidth();
+  private static final Rectangle2d FIELD_BOUNDS =
+      new Rectangle2d(new Translation2d(0.0, 0.0), new Translation2d(FIELD_LENGTH, FIELD_WIDTH));
+
+  private static final Pose2d BLUE_LOW_Y_TRENCH = midpointBetweenTags(17, 28);
+  private static final Pose2d BLUE_HIGH_Y_TRENCH = midpointBetweenTags(22, 23);
+  private static final Pose2d RED_LOW_Y_TRENCH = midpointBetweenTags(6, 7);
+  private static final Pose2d RED_HIGH_Y_TRENCH = midpointBetweenTags(1, 12);
+
+  private TrenchUtil() {}
+
+  private static Pose2d midpointBetweenTags(int tagA, int tagB) {
+    AprilTagFieldLayout fieldLayout = AllianceUtils.FIELD_LAYOUT;
+    Translation2d tagATranslation =
+        fieldLayout
+            .getTagPose(tagA)
+            .orElseThrow(() -> new IllegalStateException("AprilTag " + tagA + " is not present"))
+            .getTranslation()
+            .toTranslation2d();
+    Translation2d tagBTranslation =
+        fieldLayout
+            .getTagPose(tagB)
+            .orElseThrow(() -> new IllegalStateException("AprilTag " + tagB + " is not present"))
+            .getTranslation()
+            .toTranslation2d();
+
+    return new Pose2d(tagATranslation.interpolate(tagBTranslation, 0.5), Rotation2d.kZero);
+  }
+
+  /**
+   * Returns the midpoint of the trench AprilTag pair in the same WPILib blue-origin field
+   * coordinate frame used by AprilTagFieldLayout. X spans the field length from blue to red, and Y
+   * spans the field width from the blue alliance's right to left.
+   */
+  public static Pose2d nearestTrenchTag(Translation2d translation) {
+    Objects.requireNonNull(translation, "translation");
+
+    if (!FIELD_BOUNDS.contains(translation)) {
+      DriverStation.reportWarning(
+          "Translation is outside the WPILib field bounds: " + translation, false);
+      return Pose2d.kZero;
+    }
+
+    boolean redSide = translation.getX() >= FIELD_LENGTH / 2.0;
+    boolean highY = translation.getY() >= FIELD_WIDTH / 2.0;
+
+    if (redSide) {
+      return highY ? RED_HIGH_Y_TRENCH : RED_LOW_Y_TRENCH;
+    }
+
+    return highY ? BLUE_HIGH_Y_TRENCH : BLUE_LOW_Y_TRENCH;
+  }
+}