sdesharnais/Rebuilt-2026
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

oui

Browse Source
This commit is contained in:
samuel desharnais
2026-03-28 16:01:40 -04:00
parent 799e3e34c3
commit 755d79aa18
5 changed files with 16 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
View File

@@ -69,11 +69,11 @@ public class LimelighterAuto extends Command {
if(angle >180){
angle -= 360;
}
calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 3;
calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 5;
drivetrain.setControl(
drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
System.out.println(calcul);
if (calcul < 0.2 && calcul > -0.2) {
if (calcul < 0.1 && calcul > -0.1) {
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 < 0.2 && calcul > -0.2;
return calcul < 0.1 && calcul > -0.1;
}
}