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limelight

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This commit is contained in:
samuel desharnais
2026-04-02 17:13:54 -04:00
parent bdffb48ece
commit 2472c67adf
3 changed files with 5 additions and 3 deletions
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2
src/main/java/frc/robot/RobotContainer.java
View File

@@ -100,7 +100,7 @@ public class RobotContainer {
drivetrain.applyRequest(() -> drivetrain.applyRequest(() ->
drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed*0.7, 0.05)) 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)) .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 //manette 1

3
src/main/java/frc/robot/commands/Limelighter.java
View File

@@ -62,7 +62,8 @@ public class Limelighter extends Command {
BotPose = limelight3g.getBotPoseBlue(); BotPose = limelight3g.getBotPoseBlue();
} }
else { else {
x = 11.915394; //x = 11.915394;
x = 4.6;
BotPose = limelight3g.getBotPoseRed(); BotPose = limelight3g.getBotPoseRed();
} }
botx = BotPose[0]; botx = BotPose[0];

3
src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
View File

@@ -62,7 +62,8 @@ public class LimelighterAuto extends Command {
BotPose = limelight3g.getBotPoseBlue(); BotPose = limelight3g.getBotPoseBlue();
} }
else { else {
x = 11.915394; // x = 11.915394;
x = 4.6;
BotPose = limelight3g.getBotPoseRed(); BotPose = limelight3g.getBotPoseRed();
} }
botx = BotPose[0]; botx = BotPose[0];