From 299e1f8914797bd814748582001b68cb50408223 Mon Sep 17 00:00:00 2001
From: Samuel <2540638@etudiant.cegepvicto.com>
Date: Wed, 29 Oct 2025 18:44:15 -0400
Subject: [PATCH] Limelight 3d (j'ai peur)

---
 src/main/java/frc/robot/commands/Limelight/AprilTag3.java | 4 ++--
 src/main/java/frc/robot/subsystems/Limelight3.java        | 5 +++++
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
index 7dd2172..b275a8f 100644
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
@@ -48,12 +48,12 @@ public class AprilTag3 extends Command {
   @Override
   public void execute() {
     double a = limelight3.getTx();
-    double b = limelight3.getRx();
+    double b = limelight3.getTA()*100/Math.cos(90-limelight3.getTx());
     if(limelight3.getV() == true){
       drivetrain.setControl(drive.
       withRotationalRate(a/10).
       withVelocityX(0).
-      withVelocityY(b/10));  
+      withVelocityY( b/30));  
        System.out.println(b/10);
     }
     else{
diff --git a/src/main/java/frc/robot/subsystems/Limelight3.java b/src/main/java/frc/robot/subsystems/Limelight3.java
index 787fc37..75dd7ce 100644
--- a/src/main/java/frc/robot/subsystems/Limelight3.java
+++ b/src/main/java/frc/robot/subsystems/Limelight3.java
@@ -25,6 +25,11 @@ public class Limelight3 extends SubsystemBase {
     NetworkTableEntry tx = table.getEntry("tx");
     return tx.getDouble(0.0);
   }
+  public double getTA(){
+    NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
+    NetworkTableEntry ta = table.getEntry("ta");
+    return ta.getDouble(0.0);
+  }
   public double getRx(){
     NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
     NetworkTableEntry rx = table.getEntry("rx");