PLS5618/Reefscape-2025
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Merge branch 'main' of https://git.demerso.net/PLS5618/Reefscape-2025

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This commit is contained in:
Samuel
2025-11-12 18:57:29 -05:00
parent 820d7de306 da6bd598b0
commit eef7ee3eed
5 changed files with 41 additions and 27 deletions
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20
src/main/java/frc/robot/commands/Limelight/AprilTag3.java
View File

@@ -63,22 +63,10 @@ public class AprilTag3 extends Command {
}
else if(Botyaw >90 && Botyaw <=180){
drivetrain.setControl(drive.
withRotationalRate(tx/20).
withVelocityX(MathUtil.clamp(-x/4, -1, 1)).
withVelocityY(MathUtil.clamp(z/4, -1, 1)));
}
else if(Botyaw >-90 && Botyaw <=0){
drivetrain.setControl(drive.
withRotationalRate(tx/20).
withVelocityX(MathUtil.clamp(-x/4, -1, 1)).
withVelocityY(MathUtil.clamp(-z/4, -1, 1)));
}
else if(Botyaw >-180 && Botyaw <=-90){
drivetrain.setControl(drive.
withRotationalRate(tx/20).
withVelocityX(MathUtil.clamp(x/4, -1, 1)).
withVelocityY(MathUtil.clamp(-z/4, -1, 1)));
}
withRotationalRate(a/20).
withVelocityX(0).
withVelocityY( b/50));
System.out.println(b/50);
}
else{
drivetrain.setControl(drive.

2
src/main/java/frc/robot/commands/Pince/Algue_inspire.java
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@@ -31,7 +31,7 @@ public class Algue_inspire extends Command {
@Override
public void execute() {
if(pince.emperagealgue()>60){
if(pince.emperagealgue()>90){
pince.aspirealgue(0);
bougie.Bleu();
}

2
src/main/java/frc/robot/commands/Pince/CoralExpire.java
View File

@@ -32,7 +32,7 @@ public class CoralExpire extends Command {
}
*/
pince.aspirecoral(-.5);
bougie.Jaune();
bougie.Rouge();
}
// Called once the command ends or is interrupted.