Here are two images of the field. One with Blue on the left. One with red on the left.
Is this correct for both cases when the origin is at the bottom left, +X is to the right, +Y is up.
Blue
Red
This is relevant to your question. Pathplanner uses an “Always Blue Origin”, but if you use “Origin Follows Alliance”, then it would do something different. In your two images, you rotated the field, but in reality, the field is mirrored, not rotated, thus, in the 2nd image, the origin is the top-right corner.
So the jist is. If you are blue origin is to the driver’s right. Red then to the driver’s left.
No read that document again. If you want to use “origin follows alliance” the origin is always to the drivers right as the op had it. Positive Y always goes right to left regardless of field mirroring etc
I highly recommend you stick with always blue origin.
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So that would mean if we used a limelight we would always have to use the botpose for wpiblue. and never touch the one for red.
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If you had commands that went to relative spots you would have to provide your own flipping for which alliance you are on. Just with blue always as the origin.
Are you using PathPlanner?
They have pathfindToPoseFlipped which will automatically flip it for you
I do.
I got it. Sometimes the simplest ideas are the best.
This would also explain why I couldn’t find a quick post on this 
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