touche, amperage, distance

2025-03-03 09:22:48 -05:00
parent 37452f0b05
commit 264bbd003f
17 changed files with 227 additions and 102 deletions
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3G.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3G.java
@ -49,8 +49,8 @@ public class AprilTag3G extends Command {
    if(limelight3g.getV() == true){
      drivetrain.setControl(drive.
      withRotationalRate(-a/7).
-      withVelocityX(x.getAsDouble()).
-      withVelocityY(y.getAsDouble()));  
+      withVelocityY(x.getAsDouble()).
+      withVelocityX(-y.getAsDouble()));  
       System.out.println(a/7);
    }
    else{
@ -73,6 +73,6 @@ public class AprilTag3G extends Command {
  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
-    return limelight3g.getX()<1 && limelight3g.getX()>-1;
+    return false;
  }
 }