remember to scale drive values

frc937 · Mar 21, 2024 · d91c8c0 · d91c8c0
1 parent 24d9cf5
commit d91c8c0
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/commands/AimWithLimelight.java b/src/main/java/frc/robot/commands/AimWithLimelight.java
@@ -103,7 +103,7 @@ private double getRotation() {
     if (rot > speedLimit) {
       rot = speedLimit;
     }
-    return rot;
+    return rot * drive.getMaximumAngularSpeed();
   }
 
   /**
@@ -113,7 +113,10 @@ private double getRotation() {
    *     the target.
    */
   private double getX() {
-    return getCurrentDistance() * driveStrength;
+    if (getCurrentDistance() > speedLimit) {
+      return speedLimit * driveStrength * drive.getMaximumSpeed();
+    }
+    return getCurrentDistance() * driveStrength * drive.getMaximumSpeed();
   }
 
   /**