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Limelight 3d (j'ai peur)

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This commit is contained in:
Samuel
2025-10-29 18:44:15 -04:00
parent 40898dccf9
commit 299e1f8914
2 changed files with 7 additions and 2 deletions
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4
src/main/java/frc/robot/commands/Limelight/AprilTag3.java
View File

@@ -48,12 +48,12 @@ public class AprilTag3 extends Command {
@Override @Override
public void execute() { public void execute() {
double a = limelight3.getTx(); double a = limelight3.getTx();
double b = limelight3.getRx(); double b = limelight3.getTA()*100/Math.cos(90-limelight3.getTx());
if(limelight3.getV() == true){ if(limelight3.getV() == true){
drivetrain.setControl(drive. drivetrain.setControl(drive.
withRotationalRate(a/10). withRotationalRate(a/10).
withVelocityX(0). withVelocityX(0).
withVelocityY(b/10)); withVelocityY( b/30));
System.out.println(b/10); System.out.println(b/10);
} }
else{ else{

5
src/main/java/frc/robot/subsystems/Limelight3.java
View File

@@ -25,6 +25,11 @@ public class Limelight3 extends SubsystemBase {
NetworkTableEntry tx = table.getEntry("tx"); NetworkTableEntry tx = table.getEntry("tx");
return tx.getDouble(0.0); 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(){ public double getRx(){
NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon"); NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-balon");
NetworkTableEntry rx = table.getEntry("rx"); NetworkTableEntry rx = table.getEntry("rx");