From 2472c67adfea7bd88f2d3ec8ebc50ec2985ec168 Mon Sep 17 00:00:00 2001 From: samuel desharnais Date: Thu, 2 Apr 2026 17:13:54 -0400 Subject: [PATCH] limelight --- src/main/java/frc/robot/RobotContainer.java | 2 +- src/main/java/frc/robot/commands/Limelighter.java | 3 ++- src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java | 3 ++- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 60e17fe..53f2530 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -100,7 +100,7 @@ public class RobotContainer { drivetrain.applyRequest(() -> drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed*0.7, 0.05)) .withVelocityX(MathUtil.applyDeadband(-manette.getLeftY()*Math.abs(-manette.getLeftY())*MaxSpeed*0.7, 0.05)) - .withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate, 0.05)) + .withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate*1.5, 0.05)) ) ); //manette 1 diff --git a/src/main/java/frc/robot/commands/Limelighter.java b/src/main/java/frc/robot/commands/Limelighter.java index 06d29a4..194e0cc 100644 --- a/src/main/java/frc/robot/commands/Limelighter.java +++ b/src/main/java/frc/robot/commands/Limelighter.java @@ -62,7 +62,8 @@ public class Limelighter extends Command { BotPose = limelight3g.getBotPoseBlue(); } else { - x = 11.915394; + //x = 11.915394; + x = 4.6; BotPose = limelight3g.getBotPoseRed(); } botx = BotPose[0]; diff --git a/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java b/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java index 9cddbe6..4dac8da 100644 --- a/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java +++ b/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java @@ -62,7 +62,8 @@ public class LimelighterAuto extends Command { BotPose = limelight3g.getBotPoseBlue(); } else { - x = 11.915394; + // x = 11.915394; + x = 4.6; BotPose = limelight3g.getBotPoseRed(); } botx = BotPose[0];