admin6494/FRC6494_2026Regional-offseason
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

电压闭环的shooter 双操均可触发autoaim intaker已验证

Browse Source
This commit is contained in:
OnDYCLaptop
2026-03-05 12:18:12 +08:00
parent aa323814de
commit 042d483b16
6 changed files with 26 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc/robot/RobotContainer.java
+10 -4
View File
@@ -9,6 +9,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
import edu.wpi.first.wpilibj2.command.button.Trigger;
@@ -58,7 +59,7 @@ public class RobotContainer {
private final DriveControls driveControls = new DriveControls(drivetrain, controllerlower, robotStatusManager );
private final ShooterControls shooterControls = new ShooterControls(shooterSubsystem, controllerupper,robotStatusManager);
private final ClimberControls climberControls = new ClimberControls(climberSubsystem, controllerupper);
private final IntakerControls intakerControls = new IntakerControls(IntakerSubsystem, controllerupper);
private final IntakerControls intakerControls = new IntakerControls(IntakerSubsystem, shooterSubsystem, controllerupper);
private final DriveGainsTuner driveGainsTuner = new DriveGainsTuner(drivetrain);
private ConfigTalonFXMotorTuner configFlywheelTuner = new ConfigTalonFXMotorTuner(shooterSubsystem.flywheelMotorLeft, "flywheel", Constants.Shooter.flyWheelSlot0Configs);
private ConfigTalonFXMotorTuner configConveyorTuner = new ConfigTalonFXMotorTuner(shooterSubsystem.conveyorMotor, "conveyor", Constants.Shooter.conveyorSlot0Configs);
@@ -118,9 +119,14 @@ public class RobotContainer {
// Start：强行使用metaTag2全场定位
controllerlower.start().whileTrue(drivetrain.run(drivetrain::forceUsingLimelightMT2));
//LM 按下时autoaimming
controllerlower.leftStick().onTrue(robotStatusManager.setStatusCommand(RobotStatus.AutoAimming));
controllerlower.leftStick().onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
//LM 按下时autoaimming，松开时alltelop
// controllerlower.leftStick().onTrue(robotStatusManager.setStatusCommand(RobotStatus.AutoAimming));
// controllerlower.leftStick().onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
//双操均可触发autoaimming
Trigger autoAim = controllerupper.rightBumper().or(controllerlower.leftStick());
autoAim.onTrue(robotStatusManager.setStatusCommand(RobotStatus.AutoAimming));
autoAim.onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
controllerlower.leftTrigger()
.onTrue(robotStatusManager.setStatusCommand(RobotStatus.CrossingTrench))