sdesharnais/Rebuilt-2026
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debug de jeudi

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samuel desharnais
2026-03-28 09:16:33 -04:00
parent 57fa3597e2
commit 79568a58b9
8 changed files with 33 additions and 95 deletions
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6
src/main/java/frc/robot/commands/Limelighter.java
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@@ -61,12 +61,12 @@ public class Limelighter extends Command {
boty = BotPose[0];
angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
if(angle >180){
angle =- 360;
angle -= 360;
}
calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 5;
calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 10;
drivetrain.setControl(
drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
System.out.println(calcul);
System.out.println(angle);
if (calcul < 0.2 && calcul > -0.2) {
drivetrain.setControl(drive.withRotationalRate(0));
}