avance

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));
   }

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.