test d'april tag pas concluant

2025-10-29 19:03:12 -04:00
parent 299e1f8914
commit 9a4a3bf0b1
1 changed files with 2 additions and 2 deletions
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
@@ -48,12 +48,12 @@ public class AprilTag3 extends Command {
  @Override
  public void execute() {
    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){
      drivetrain.setControl(drive.
      withRotationalRate(a/10).
      withVelocityX(0).
-      withVelocityY( b/30));  
+      withVelocityY( b/30));
       System.out.println(b/10);
    }
    else{