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

2025-11-24 17:36:10 -05:00
parent 6f32b4424d a998218bd9
commit f0c7508873
2 changed files with 17 additions and 2 deletions
--- a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
+++ b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
@@ -74,8 +74,8 @@ public class AprilTag3 extends Command {
      else if(tagId ==7){
        drivetrain.setControl(drive.
        withRotationalRate(tx/20).
-        withVelocityX(-(botx-2.21)*2).
-        withVelocityY(-(boty-4)*4));
+        withVelocityX((2-limelight3.derive(botx))).
+        withVelocityY(2-limelight3.derive(botz)));
      }
  }
  else{