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april tag

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This commit is contained in:
Samuel
2025-11-12 18:57:51 -05:00
parent eef7ee3eed
commit 04718b8400
1 changed files with 16 additions and 4 deletions
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20
src/main/java/frc/robot/commands/Limelight/AprilTag3.java
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@@ -63,10 +63,22 @@ public class AprilTag3 extends Command {
}
else if(Botyaw >90 && Botyaw <=180){
drivetrain.setControl(drive.
withRotationalRate(a/20).
withVelocityX(0).
withVelocityY( b/50));
System.out.println(b/50);
withRotationalRate(tx/20).
withVelocityX(MathUtil.clamp(-x/4, -1, 1)).
withVelocityY(MathUtil.clamp(z/4, -1, 1)));
}
else if(Botyaw >-90 && Botyaw <=0){
drivetrain.setControl(drive.
withRotationalRate(tx/20).
withVelocityX(MathUtil.clamp(-x/4, -1, 1)).
withVelocityY(MathUtil.clamp(-z/4, -1, 1)));
}
else if(Botyaw >-180 && Botyaw <=-90){
drivetrain.setControl(drive.
withRotationalRate(tx/20).
withVelocityX(MathUtil.clamp(x/4, -1, 1)).
withVelocityY(MathUtil.clamp(-z/4, -1, 1)));
}
}
else{
drivetrain.setControl(drive.