From 6afc3420065753088a862e6026260d98a3fa73f3 Mon Sep 17 00:00:00 2001
From: Antoine PerreaultE <KalcioGx53@hotmail.com>
Date: Mon, 30 Mar 2026 17:53:54 -0400
Subject: [PATCH] limelight

---
 .../java/frc/robot/commands/Limelighter.java  | 21 +++++++++++++------
 .../commands/ModeAuto/LimelighterAuto.java    | 21 +++++++++++++------
 .../frc/robot/subsystems/Limelight3G.java     |  4 ++--
 3 files changed, 32 insertions(+), 14 deletions(-)

diff --git a/src/main/java/frc/robot/commands/Limelighter.java b/src/main/java/frc/robot/commands/Limelighter.java
index ce3c27f..a7be2f3 100644
--- a/src/main/java/frc/robot/commands/Limelighter.java
+++ b/src/main/java/frc/robot/commands/Limelighter.java
@@ -27,6 +27,7 @@ public class Limelighter extends Command {
   double boty;
   double angle;
   double calcul;
+  double x;
    Optional<Alliance> alliance = DriverStation.getAlliance(); 
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
       .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
@@ -51,26 +52,34 @@ public class Limelighter extends Command {
     System.out.println("e");
     if (limelight3g.getV()) {
         BotPose = limelight3g.getBotPoseBlue();
-    
+       if (!alliance.isPresent()) {
+        return;
+      }
+      if (alliance.get() == Alliance.Blue) {
+        x = 4.6;
+      }
+       else {
+        x = 11.915394;
+      }
       botx = BotPose[1];
       boty = BotPose[0];
       angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
-      calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle);
+      calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
       if(calcul < -5 && calcul > -180){
         drivetrain.setControl(
-          drive.withRotationalRate(0.5*180/Math.PI));
+          drive.withRotationalRate(0.5*(2*Math.PI)));
       }
       else if(calcul > 5 && calcul < 180){
         drivetrain.setControl(
-          drive.withRotationalRate(-0.5*180/Math.PI));
+          drive.withRotationalRate(-0.5*(2*Math.PI)));
       }
       else if(calcul >= 180){
         drivetrain.setControl(
-          drive.withRotationalRate(-0.5*180/Math.PI));
+          drive.withRotationalRate(-0.5*(2*Math.PI)));
       }
       else if(calcul <= -180){
         drivetrain.setControl(
-          drive.withRotationalRate(0.5*180/Math.PI));
+          drive.withRotationalRate(0.5*(2*Math.PI)));
       }
       else{
         drivetrain.setControl(
diff --git a/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java b/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
index 3e749da..31ab317 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
@@ -27,6 +27,7 @@ public class LimelighterAuto extends Command {
   double boty;
   double angle;
   double calcul;
+  double x;
    Optional<Alliance> alliance = DriverStation.getAlliance(); 
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
       .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
@@ -50,27 +51,35 @@ public class LimelighterAuto extends Command {
     double[] BotPose = new double[6];
     System.out.println("e");
     if (limelight3g.getV()) {
+      if (!alliance.isPresent()) {
+        return;
+      }
+      if (alliance.get() == Alliance.Blue) {
+        x = 4.6;
+      }
+       else {
+        x = 11.915394;
+      }
         BotPose = limelight3g.getBotPoseBlue();
-    
       botx = BotPose[1];
       boty = BotPose[0];
       angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
-      calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle);
+      calcul = limelight3g.Calcule(botx, x, boty, 4, angle);
       if(calcul < -5 && calcul > -180){
         drivetrain.setControl(
-          drive.withRotationalRate(0.5*180/Math.PI));
+          drive.withRotationalRate(0.5*(2*Math.PI)));
       }
       else if(calcul > 5 && calcul < 180){
         drivetrain.setControl(
-          drive.withRotationalRate(-0.5*180/Math.PI));
+          drive.withRotationalRate(-0.5*(2*Math.PI)));
       }
       else if(calcul >= 180){
         drivetrain.setControl(
-          drive.withRotationalRate(-0.5*180/Math.PI));
+          drive.withRotationalRate(-0.5*(2*Math.PI)));
       }
       else if(calcul <= -180){
         drivetrain.setControl(
-          drive.withRotationalRate(0.5*180/Math.PI));
+          drive.withRotationalRate(0.5*(2*Math.PI)));
       }
       else{
         drivetrain.setControl(
diff --git a/src/main/java/frc/robot/subsystems/Limelight3G.java b/src/main/java/frc/robot/subsystems/Limelight3G.java
index dbee931..da4ce72 100644
--- a/src/main/java/frc/robot/subsystems/Limelight3G.java
+++ b/src/main/java/frc/robot/subsystems/Limelight3G.java
@@ -62,10 +62,10 @@ NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight-tag")
       }
       else{
         if(y1 > y2){
-          return Math.atan(90-((x2 - x1) / (y2 - y1)))* (180 / Math.PI)+270 - angle;
+          return Math.atan((x2 - x1) / (y2 - y1))* (180 / Math.PI)+270 - angle;
         }
         else{
-          return Math.atan((x2 - x1) / (y2 - y1)) * (180 / Math.PI)+180 - angle;
+          return Math.atan(90-((x2 - x1) / (y2 - y1))) * (180 / Math.PI)+180 - angle;
         }
       }
     }