Merge remote-tracking branch 'origin/SOTMVerticalMovement'

4201VitruvianBots · Mar 14, 2024 · f825091 · f825091
2 parents e7a13ab + ba094ed
commit f825091
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/subsystems/Vision.java b/src/main/java/frc/robot/subsystems/Vision.java
@@ -216,7 +216,8 @@ private void updateAngleToSpeaker() {
                 .plus(
                     Rotation2d.fromRadians(
                         Math.asin(
-                            ((VelocityY * PositionX + VelocityX * PositionY)) / (newDist * 5)))));
+                            ((VelocityY * PositionX + (VelocityX * 0.2) * PositionY))
+                                / (newDist * 5)))));
       }
     }
   }