limelight s'avance

2025-11-10 17:48:54 -05:00
parent 34ea5ba46f
commit f590d88c2d
1 changed files with 3 additions and 3 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 = 1.46 / Math.sqrt((limelight3.getTA()/100) / (Math.cos(90-limelight3.getTx())));
    if(limelight3.getV() == true){
      drivetrain.setControl(drive.
      withRotationalRate(a/20).
-      withVelocityX(0).
-      withVelocityY( b/50));
+      withVelocityX(b/50).
+      withVelocityY( 0));
       System.out.println(b/50);
    }
    else{