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test de formule pour b pas concluant(j'ai moins peur)

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Antoine PerreaultE
2025-10-29 19:44:55 -04:00
parent 9a4a3bf0b1
commit 34ea5ba46f
2 changed files with 3 additions and 4 deletions
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6
src/main/java/frc/robot/commands/Limelight/AprilTag3.java
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@@ -51,10 +51,10 @@ public class AprilTag3 extends Command {
double b = (limelight3.getTA()*100) / (Math.cos(90-limelight3.getTx())); 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/20).
withVelocityX(0). withVelocityX(0).
withVelocityY( b/30)); withVelocityY( b/50));
System.out.println(b/10); System.out.println(b/50);
} }
else{ else{
drivetrain.setControl(drive. drivetrain.setControl(drive.

1
src/main/java/frc/robot/subsystems/Elevateur.java
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@@ -8,7 +8,6 @@ import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab; import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import com.revrobotics.spark.SparkMax; import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType; import com.revrobotics.spark.SparkLowLevel.MotorType;