PLS5618/Reefscape-2025
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base: PLS5618:dd5295b42ec03c32e6b5e711a3342220d2ad1217
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PLS5618:main PLS5618:grimpe PLS5618:requin PLS5618:pince PLS5618:elevateur PLS5618:Limelight PLS5618:Swerve PLS5618:Led
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compare: PLS5618:da6bd598b01c37c0bdf678bcfb7e0db6e11eb9cc
Branches Tags
PLS5618:main PLS5618:grimpe PLS5618:requin PLS5618:pince PLS5618:elevateur PLS5618:Limelight PLS5618:Swerve PLS5618:Led

2 Commits
dd5295b42e ... da6bd598b0

Author SHA1 Message Date
Antoine PerreaultE
da6bd598b0 Merge branch 'main' of https://git.demerso.net/PLS5618/Reefscape-2025 2025-11-10 18:06:11 -05:00
Antoine PerreaultE
38a0fc3413 avance 2025-11-10 18:06:08 -05:00
2 changed files with 4 additions and 1 deletions
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3
src/main/java/frc/robot/commands/Limelight/AprilTag3.java
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@@ -50,12 +50,15 @@ public class AprilTag3 extends Command {
double a = limelight3.getTx(); double a = limelight3.getTx();
double b = (limelight3.getTA()*100) / (Math.cos(90-limelight3.getTx())); double b = (limelight3.getTA()*100) / (Math.cos(90-limelight3.getTx()));
if(limelight3.getV() == true){ if(limelight3.getV() == true){
if(limelight3.getTA() > 1.2){
drivetrain.setControl(drive. drivetrain.setControl(drive.
withRotationalRate(a/20). withRotationalRate(a/20).
withVelocityX(0). withVelocityX(0).
withVelocityY( b/50)); withVelocityY( b/50));
System.out.println(b/50); System.out.println(b/50);
} }
}
else{ else{
drivetrain.setControl(drive. drivetrain.setControl(drive.
withRotationalRate(0). withRotationalRate(0).