电压闭环的shooter 双操均可触发autoaim intaker已验证

src/main/java/frc/robot/Constants.java

@@ -15,14 +15,14 @@ public final class Constants {
         CrossingTrench
     }
     public class Shooter {
-        public static final double conveyorSpeed = 20;
+        public static final double conveyorSpeed = 25;
         public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs()
             .withKP(0.0).withKI(0).withKD(0)
-            .withKV(0.0088).withKA(0.0).withKS(0.0);
+            .withKV(0.099).withKA(0.0).withKS(0.0);
 
         public static final Slot0Configs conveyorSlot0Configs = new Slot0Configs()
             .withKP(0.0).withKI(0).withKD(0)
-            .withKV(0.02).withKA(0.15).withKS(0);
+            .withKV(0.16).withKA(0.15).withKS(0);
 
         public static final Slot0Configs backboardSlot0Configs = new Slot0Configs()
             .withKP(0.01).withKI(0).withKD(0)

src/main/java/frc/robot/RobotContainer.java

@@ -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
+    //LM 按下时autoaimming，松开时alltelop
-    controllerlower.leftStick().onTrue(robotStatusManager.setStatusCommand(RobotStatus.AutoAimming));
+    // controllerlower.leftStick().onTrue(robotStatusManager.setStatusCommand(RobotStatus.AutoAimming));
-    controllerlower.leftStick().onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
+    // 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))

src/main/java/frc/robot/controls/ClimberControls.java

@@ -24,9 +24,9 @@ public class ClimberControls {
         return Commands.run(()->{
             //climber.climbUp();
                 if(controller.getRightY() < -0.5){
-                    climber.climbDownNonStop();
-                } else if(controller.getRightY() > 0.5){
                     climber.climbUpNonStop();
+                } else if(controller.getRightY() > 0.5){
+                    climber.climbDownNonStop();
                 } else if (controller.y().getAsBoolean()) {
                     climber.climbUp();
                 } else if (controller.x().getAsBoolean()) {

src/main/java/frc/robot/controls/IntakerControls.java

@@ -6,16 +6,19 @@ import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.subsystems.IntakerSubsystem;
+import frc.robot.subsystems.ShooterSubsystem;
 import frc.robot.Constants;
 
 
 public class IntakerControls {
     private final IntakerSubsystem IntakerSubsystem;
     private final CommandXboxController controller;
+    private final ShooterSubsystem ShooterSubsystem;
 
     //private static final double ROTATER_STEP_PER_CYCLE = 0.00;
 
-    public IntakerControls(IntakerSubsystem Intaker, CommandXboxController controller) {
+    public IntakerControls(IntakerSubsystem Intaker, ShooterSubsystem Shooter, CommandXboxController controller) {
+        this.ShooterSubsystem = Shooter;
         this.IntakerSubsystem = Intaker;
         this.controller = controller;
     }
@@ -70,10 +73,13 @@ public class IntakerControls {
     public Command defaultIntakerCommand() {
         return Commands.run(() -> {
         double getterspeed = controller.getLeftTriggerAxis() * Constants.Intaker.IntakeGetterK + Constants.Intaker.Getterminspeed;
+        double conveyoyspeedforintake = 10;
         if (controller.getLeftTriggerAxis() < 0.1) {
             getterspeed = 0;
+            conveyoyspeedforintake = 0;
             }
         IntakerSubsystem.setIntakerGetterSpeed(getterspeed);
+        ShooterSubsystem.setConveyorSpeedByRPS(conveyoyspeedforintake);
         
         if(controller.getLeftY() < -0.5){
                     IntakerSubsystem.IntakerUpNonStop();

src/main/java/frc/robot/controls/ShooterControls.java

@@ -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);

src/main/java/frc/robot/subsystems/ShooterSubsystem.java

@@ -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