teste pente d'accélération dériver

2025-11-20 14:33:00 -05:00
parent 22271c8106
commit 688d393d35
2 changed files with 18 additions and 3 deletions
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
@@ -67,8 +67,8 @@ public class AprilTag3 extends Command {
      if(tagId ==8){
        drivetrain.setControl(drive.
        withRotationalRate(tx/20).
-        withVelocityX(2-botx).
-        withVelocityY(2-botz));
+        withVelocityX((2-limelight3.derive(botx))).
+        withVelocityY(2-limelight3.derive(botz)));
      }
  }
    else{