code fini

2026-02-23 18:24:29 -05:00
parent 69e790ffd5
commit a3eae79bdd
7 changed files with 66 additions and 32 deletions
--- a/src/main/java/frc/robot/commands/Lancer.java
+++ b/src/main/java/frc/robot/commands/Lancer.java
@@ -61,7 +61,7 @@ public class Lancer extends Command {
      else{
        balayeuse.Reset();
        balayeuse.Pivoter(0);
-        double vitesse = (100-limeLight3G.getTA())/100;
+        double vitesse = (100-limeLight3G.getTA())/lanceur.Vitesse();
        double output = pidController.calculate(lanceur.Vitesse(),vitesse);
        lanceur.Lancer(output);
        if(lanceur.Vitesse() >= vitesse){