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/subsystems/ShooterSubsystem.java
+2 -1
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@@ -4,6 +4,7 @@ import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.controls.Follower;
import com.ctre.phoenix6.controls.VelocityDutyCycle;
import com.ctre.phoenix6.controls.VelocityVoltage;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.hardware.TalonFXS;
import com.ctre.phoenix6.signals.InvertedValue;
@@ -31,7 +32,7 @@ public class ShooterSubsystem extends SubsystemBase {
private NetworkTable shooterNetworkTable;
private final VelocityDutyCycle velocityRequest = new VelocityDutyCycle(0);
private final VelocityVoltage velocityRequest = new VelocityVoltage(0);
// 初始化各个部件