PLS5618/Reefscape-2025
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This commit is contained in:
Antoine PerreaultE
2025-11-17 18:17:26 -05:00
parent 55ff246629
commit 2b6839b686
1 changed files with 4 additions and 10 deletions
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14
src/main/java/frc/robot/commands/Limelight/AprilTag3.java
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@@ -67,16 +67,10 @@ public class AprilTag3 extends Command {
if(tagId ==8){
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)));
}
}
withVelocityX(2-botx).
withVelocityY(2-botz));
}
}
else{
drivetrain.setControl(drive.
withRotationalRate(0).