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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/LidarAlign.java
+3 -4
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@@ -21,12 +21,11 @@ public class LidarAlign extends Command {
private boolean foundReef;
private boolean headedRight;
private double speed;
private final boolean constructedHeadedRight;
// private final boolean constructedHeadedRight;
/** Creates a new LidarAlign. */
public LidarAlign(SwerveDrive swerveDrive, Lidar lidar, boolean headedRight) {
public LidarAlign(SwerveDrive swerveDrive, Lidar lidar) {//, boolean headedRight) {
// Use addRequirements() here to declare subsystem dependencies.
constructedHeadedRight = headedRight;
this.swerveDrive = swerveDrive;
this.lidar = lidar;
@@ -40,7 +39,7 @@ public class LidarAlign extends Command {
this.currentFinderTick = 0;
this.speed = 0.4; // TODO: find good speed for this
this.foundReef = false;
this.headedRight = constructedHeadedRight;
this.headedRight = !(GotoLastApril.tagRelativeXError < 0);
}