avance

2025-11-10 18:06:08 -05:00
parent 34ea5ba46f
commit 38a0fc3413
2 changed files with 4 additions and 1 deletions
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
@@ -50,12 +50,15 @@ 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.
      withRotationalRate(0).