sdesharnais/Rebuilt-2026
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samuel desharnais
2026-03-28 15:53:53 -04:00
parent fbd94fc33d
commit 799e3e34c3
4 changed files with 33 additions and 31 deletions
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4
src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
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@@ -69,7 +69,7 @@ public class LimelighterAuto extends Command {
if(angle >180){
angle -= 360;
}
calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 5;
calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 3;
drivetrain.setControl(
drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
System.out.println(calcul);
@@ -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 < 0.2 && calcul > -0.2;
}
}