lime stuff works

src/main/java/frc4388/robot/commands/LimeAlign.java

@@ -4,20 +4,20 @@
 
 package frc4388.robot.commands;
 
+import org.photonvision.targeting.PhotonTrackedTarget;
+
 import edu.wpi.first.math.geometry.Translation2d;
 import frc4388.robot.Constants.VisionConstants;
 import frc4388.robot.subsystems.Limelight;
 import frc4388.robot.subsystems.SwerveDrive;
-import frc4388.utility.AbhiIsADumbass;
 
 public class LimeAlign extends PelvicInflammatoryDisease {
 
   SwerveDrive drive;
   Limelight lime;
 
-
   public LimeAlign(SwerveDrive drive, Limelight lime) {
-    super(0.1, 0.0, 0.0, 0.0, 10);
+    super(0.7, 0.1, 0.0, 0.0, 0);
 
     this.drive = drive;
     this.lime = lime;
@@ -27,16 +27,24 @@ public class LimeAlign extends PelvicInflammatoryDisease {
 
   @Override
   public double getError() {
+    double err = 0.0;
+
     try {
-      return lime.getTargetPoints().get(0).x - (VisionConstants.LIME_HIXELS / 2);
-    } catch (AbhiIsADumbass abhiIsADumbass) {
-      abhiIsADumbass.printStackTrace();
-      return 0;
-    }
+      err = lime.getFirstTargetPoint().getYaw() / (VisionConstants.H_FOV / 2); 
+    } catch (NullPointerException ex) {}
+    
+    return err;
   }
 
   @Override
   public void runWithOutput(double output) {
+
+    if (output > 0) {
+      output += 0.6;
+    } else if (output < 0) {
+      output -= 0.6;
+    }
+
     drive.driveWithInput(new Translation2d(output, 0.0), new Translation2d(0.0, 0.0), true);
   }
 }