admin6494/FRC6494_2026Regional-offseason
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电压闭环的shooter 双操均可触发autoaim intaker已验证

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OnDYCLaptop
2026-03-05 12:18:12 +08:00
parent aa323814de
commit 042d483b16
6 changed files with 26 additions and 15 deletions
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src/main/java/frc/robot/controls/ShooterControls.java
+2 -4
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@@ -8,6 +8,7 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.Constants;
import frc.robot.RobotStatusManager;
import frc.robot.Constants.Intaker;
import frc.robot.Constants.RobotStatus;
import frc.robot.subsystems.IntakerSubsystem;
import frc.robot.subsystems.ShooterSubsystem;
@@ -78,12 +79,9 @@ public class ShooterControls {
flywheelSpeed = 0;
conveyorSpeed = 0;
}
if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()<flywheelSpeed*0.7){
if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()<flywheelSpeed*0.95){
conveyorSpeed = 0;
}
// flywheelSpeed = calculateFlywheelSpeedOnlywithOffset(60);
// double flywheelSpeed = calculateFlywheelSpeed(0);
// double BackboardPosition = calculateBackboardPosition(0);
shooterControlTable.getEntry("flywheelTargetSpeed").setDouble(flywheelSpeed);
shooterControlTable.getEntry("conveyerTargetSpeed").setDouble(conveyorSpeed);
shooterControlTable.getEntry("backboardTargetPosition").setDouble(backboardPosition);