vgft

src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java

@@ -53,16 +53,15 @@ public class LimelighterAuto extends Command {
   @Override
   public void execute() {
     double[] BotPose = new double[6];
-    System.out.println("a");
     if (limelight3g.getV()) {
-      if(alliance.isPresent()){
+      if(!alliance.isPresent()){return;}
         if(alliance.get() == Alliance.Blue){
         BotPose = limelight3g.getBotPoseBlue();
       }
       else{
         BotPose = limelight3g.getBotPoseRed();
       }
-      }
+      
       botx = BotPose[1];
       boty = BotPose[0];
       angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
@@ -72,8 +71,9 @@ public class LimelighterAuto extends Command {
       calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 5;  
       drivetrain.setControl(
           drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
+              System.out.println("Limelighter");
       System.out.println(calcul);
-      if (calcul < 0.1 && calcul > -0.1) {
+      if (calcul < 0.3 && calcul > -0.3) {
       drivetrain.setControl(drive.withRotationalRate(0));
       }
     }
@@ -92,7 +92,7 @@ public class LimelighterAuto extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return calcul < 0.1 && calcul > -0.1;
+    return calcul < 0.3 && calcul > -0.3;
   }
 }