From f590d88c2def791f79e3eb21e32be85d6df7dd6f Mon Sep 17 00:00:00 2001
From: Samuel <2540638@etudiant.cegepvicto.com>
Date: Mon, 10 Nov 2025 17:48:54 -0500
Subject: [PATCH] limelight s'avance

---
 src/main/java/frc/robot/commands/Limelight/AprilTag3.java | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Limelight/AprilTag3.java b/src/main/java/frc/robot/commands/Limelight/AprilTag3.java
index e0de605..32914c1 100644
--- 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{