Limelight 3d (j'ai peur)

2025-10-29 18:44:15 -04:00
parent 40898dccf9
commit 299e1f8914
2 changed files with 7 additions and 2 deletions
--- 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{