sdesharnais/Rebuilt-2026
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samuel desharnais
2026-03-28 16:01:40 -04:00
parent 799e3e34c3
commit 755d79aa18
5 changed files with 16 additions and 14 deletions
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4
src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
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@@ -64,7 +64,7 @@ public class GrimperMur extends Command {
x = 1.11;
angle = 0;
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){
drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
}
else{
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
@@ -80,7 +80,7 @@ public class GrimperMur extends Command {
y = 6.959326;
angle = 180;
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170 && drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190){
drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
}
else{
if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){