PLS5618/Reefscape-2025
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This commit is contained in:
Antoine PerreaultE
2025-11-10 18:06:08 -05:00
parent 34ea5ba46f
commit 38a0fc3413
2 changed files with 4 additions and 1 deletions
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3
src/main/java/frc/robot/commands/Limelight/AprilTag3.java
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@@ -50,12 +50,15 @@ public class AprilTag3 extends Command {
double a = limelight3.getTx(); double a = limelight3.getTx();
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){
if(limelight3.getTA() > 1.2){
drivetrain.setControl(drive. drivetrain.setControl(drive.
withRotationalRate(a/20). withRotationalRate(a/20).
withVelocityX(0). withVelocityX(0).
withVelocityY( b/50)); withVelocityY( b/50));
System.out.println(b/50); System.out.println(b/50);
} }
}
else{ else{
drivetrain.setControl(drive. drivetrain.setControl(drive.
withRotationalRate(0). withRotationalRate(0).