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test d'april tag pas concluant

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This commit is contained in:
EdwardFaucher
2025-10-29 19:03:12 -04:00
parent 299e1f8914
commit 9a4a3bf0b1
1 changed files with 2 additions and 2 deletions
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4
src/main/java/frc/robot/commands/Limelight/AprilTag3.java
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@@ -48,12 +48,12 @@ public class AprilTag3 extends Command {
@Override @Override
public void execute() { public void execute() {
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){
drivetrain.setControl(drive. drivetrain.setControl(drive.
withRotationalRate(a/10). withRotationalRate(a/10).
withVelocityX(0). withVelocityX(0).
withVelocityY( b/30)); withVelocityY( b/30));
System.out.println(b/10); System.out.println(b/10);
} }
else{ else{