admin6494/FRC6494_2026Regional-offseason
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修复已知问题

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OnDYCLaptop
2026-03-06 15:03:26 +08:00
parent ce8b17e377
commit 0536a3bcd4
2 changed files with 8 additions and 1 deletions
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src/main/java/frc/robot/controls/IntakerControls.java
+3 -1
View File
@@ -74,10 +74,12 @@ public class IntakerControls {
return Commands.run(() -> {
double getterspeed = 0;
double conveyoyspeedforintake = 15;
double statorCurrent = ShooterSubsystem.getConveyorStatorCurrent();
if (controller.getLeftTriggerAxis() > 0.1) {
//getterspeed = controller.getLeftTriggerAxis() * Constants.Intaker.IntakeGetterK + Constants.Intaker.Getterminspeed;
getterspeed = controller.getLeftTriggerAxis() * Constants.Intaker.IntakeGetterK + Constants.Intaker.Getterminspeed;
ShooterSubsystem.setConveyorSpeedByRPS(conveyoyspeedforintake);
}
IntakerSubsystem.setIntakerGetterSpeed(getterspeed);
if(controller.getLeftY() < -0.5){
src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+5
View File
@@ -158,6 +158,10 @@ public class ShooterSubsystem extends SubsystemBase {
public void resetbackboardencoder(){
backboardEncoder.reset();
}
public double getConveyorStatorCurrent(){
double statorCurrent = conveyorMotor.getStatorCurrent().getValueAsDouble();
return statorCurrent;
}
@Override
public void periodic() {
@@ -171,6 +175,7 @@ public class ShooterSubsystem extends SubsystemBase {
shooterNetworkTable.getEntry("isBackboardAtTarget").setBoolean(isBackboardAtTarget());
shooterNetworkTable.getEntry("distanceGetted").setDouble(getDistanceToHub());
shooterNetworkTable.getEntry("distancetopassball").setDouble(getDistanceToPassball());
shooterNetworkTable.getEntry("statorCurrent").setDouble(getConveyorStatorCurrent());
}
public double getDistanceToHub(){