From 38a0fc3413c74bcd4c9d1ae0f3d135750ce001a2 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 10 Nov 2025 18:06:08 -0500
Subject: [PATCH] avance

---
 src/main/java/frc/robot/RobotContainer.java               | 2 +-
 src/main/java/frc/robot/commands/Limelight/AprilTag3.java | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index e0bf37a..73075ed 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -151,7 +151,7 @@ public class RobotContainer {
     elevateur.setDefaultCommand(new RunCommand(()->{
     elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05));
     }, elevateur));
-
+    
     //Reset encodeur
     manette2.start().whileTrue(new reset(elevateur, pince, requin));
   }
diff --git a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
index e0de605..920b8a7 100644
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
@@ -50,11 +50,14 @@ public class AprilTag3 extends Command {
     double a = limelight3.getTx();
   double b = (limelight3.getTA()*100) / (Math.cos(90-limelight3.getTx()));
     if(limelight3.getV() == true){
+      if(limelight3.getTA() > 1.2){
       drivetrain.setControl(drive.
       withRotationalRate(a/20).
       withVelocityX(0).
       withVelocityY( b/50));
        System.out.println(b/50);
+      }
+      
     }
     else{
       drivetrain.setControl(drive.