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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2
src/main/java/frc/robot/RobotContainer.java
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@@ -151,7 +151,7 @@ public class RobotContainer {
elevateur.setDefaultCommand(new RunCommand(()->{ elevateur.setDefaultCommand(new RunCommand(()->{
elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05)); elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05));
}, elevateur)); }, elevateur));
//Reset encodeur //Reset encodeur
manette2.start().whileTrue(new reset(elevateur, pince, requin)); manette2.start().whileTrue(new reset(elevateur, pince, requin));
} }

3
src/main/java/frc/robot/commands/Limelight/AprilTag3.java
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@@ -50,11 +50,14 @@ 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.