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Limelight lidar stuff

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This commit is contained in:
Michael Mikovsky
2025-02-04 19:44:24 -07:00
parent 3cacb7743e
commit 426d9f231a
7 changed files with 25 additions and 26 deletions
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src/main/java/frc4388/robot/commands/GotoLastApril.java
+10 -11
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@@ -40,6 +40,12 @@ public class GotoLastApril extends Command {
// addRequirements(swerveDrive);
}
public static double tagRelativeXError = -1;
private static void setTagRelativeXError(double val){
tagRelativeXError = val;
}
@Override
public void initialize() {
xPID.initialize();
@@ -75,17 +81,10 @@ public class GotoLastApril extends Command {
0
);
Rotation2d error = new Translation2d(xerr, yerr).getAngle();
error = error.rotateBy(Rotation2d.fromDegrees(-rotoutput));
double tagRelativeXError = error.getSin();
System.out.println(tagRelativeXError);
// SmartDashboard.putNumber("PID X Output", xoutput);
// SmartDashboard.putNumber("PID Y Output", youtput);
// // SmartDashboard.putNumber("PID Y Output", youtput);
setTagRelativeXError(
new Translation2d(xerr, yerr).getAngle()
.rotateBy(targetpos.getRotation())
.getCos());
swerveDrive.driveWithInput(leftStick, rightStick, true);
}