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

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((2-limelight3.derive(botx))).
-        withVelocityY(2-limelight3.derive(boty)));
+        withVelocityX(2-botx).
+        withVelocityY(2-boty));
       }
   }
   else{

src/main/java/frc/robot/subsystems/Limelight3.java

@@ -21,19 +21,6 @@ public class Limelight3 extends SubsystemBase {
     for(int port = 5800; port <=5807; port++){
       PortForwarder.add(port, "limelight.local", port);
     }
-  }
-  double previousValue = 0;
-double previousTime = Timer.getFPGATimestamp();
-
-public double derive(double currentValue) {
-  double previousValue = 0;
-  double previousTime = Timer.getFPGATimestamp();  
-  double now = Timer.getFPGATimestamp();
-  double dt = now - previousTime;
-  double derivative = (currentValue - previousValue) / dt;
-  previousValue = currentValue;
-  previousTime = now;
-  return derivative;
   }
   public double[] getTargetPose(){
     NetworkTable limelightTable = NetworkTableInstance.getDefault().getTable("limelight-balon");