Merge branch 'main' of https://demerso.net/pls5618/2023/robot

2023-03-07 19:17:57 -05:00
parent e7f5b81445 4a648fff25
commit fc866caea7
2 changed files with 6 additions and 5 deletions
--- a/src/main/java/frc/robot/commands/Gyro.java
+++ b/src/main/java/frc/robot/commands/Gyro.java
@ -28,13 +28,13 @@ public class Gyro extends CommandBase {
  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
-  if(basePilotable.getpitch()<10) 
+  if(basePilotable.getpitch()>4) 
   { 
-    basePilotable.drive(0.4, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
   }
-   else if(basePilotable.getpitch()>-10) 
+   else if(basePilotable.getpitch()<-4) 
   { 
-    basePilotable.drive(-0.4, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
   }
   else
   {