sdesharnais/Rebuilt-2026
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This commit is contained in:
Antoine PerreaultE
2026-04-01 18:43:24 -04:00
parent 5b6e3ac7b2
commit da28ff48db
1 changed files with 2 additions and 2 deletions
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4
src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
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@@ -69,8 +69,8 @@ public class GrimperReservoir extends Command {
if(alliance.get() == Alliance.Red){ if(alliance.get() == Alliance.Red){
pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble(); pigeonAngle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
System.out.println(pigeonAngle); System.out.println(pigeonAngle);
y = 6.959326; y = 5.4;
x = 13.57966; x = 15.4;
angle = 180; angle = 180;
if(pigeonAngle< 190 && pigeonAngle> 170){ if(pigeonAngle< 190 && pigeonAngle> 170){
drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*5.5), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*5.5),-2,2))); drivetrain.setControl(drive.withVelocityY(MathUtil.clamp(((y-boty)*5.5), -2, 2)).withVelocityX(MathUtil.clamp(((x-botx)*5.5),-2,2)));