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OnDYCLaptop
2026-03-16 16:10:50 +08:00
parent 6196da8a23
commit 055642a37e
7 changed files with 198 additions and 26 deletions
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src/main/deploy/pathplanner/autos/8 Balls Middle Start Blue.auto
+6
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@@ -10,6 +10,12 @@
"pathName": "Back To Shoot Blue"
}
},
{
"type": "named",
"data": {
"name": "shoot"
}
},
{
"type": "named",
"data": {
src/main/deploy/pathplanner/autos/Copy of Shoot and Depot Blue.auto
+152
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@@ -0,0 +1,152 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Back To Shoot Red"
}
},
{
"type": "named",
"data": {
"name": "intaker_down"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "shoot"
}
},
{
"type": "named",
"data": {
"name": "intaker_down"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "start_intake_and_conveyor"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Shoot to Depot Red"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Depot Intake Red"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "AutoAim"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "stop_intake_and_conveyor"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "AutoShoot"
}
},
{
"type": "named",
"data": {
"name": "Shake"
}
},
{
"type": "named",
"data": {
"name": "intaker_up"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "AutoShoot"
}
},
{
"type": "named",
"data": {
"name": "Shake"
}
},
{
"type": "named",
"data": {
"name": "intaker_up"
}
}
]
}
}
]
}
},
"resetOdom": true,
"folder": "Red Middle",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/Shoot and Depot Blue.auto
+4 -10
View File
@@ -19,12 +19,6 @@
"data": {
"name": "intaker_down"
}
},
{
"type": "named",
"data": {
"name": "climber_init"
}
}
]
}
@@ -129,21 +123,21 @@
"data": {
"commands": [
{
"type": "path",
"type": "named",
"data": {
"pathName": "blue depot go 1"
"name": "AutoShoot"
}
},
{
"type": "named",
"data": {
"name": "start_intake"
"name": "Shake"
}
},
{
"type": "named",
"data": {
"name": "reset_backboard0"
"name": "intaker_up"
}
}
]
src/main/deploy/pathplanner/autos/Shoot and Depot Red.auto
+12
View File
@@ -107,6 +107,12 @@
"data": {
"name": "Shake"
}
},
{
"type": "named",
"data": {
"name": "intaker_up"
}
}
]
}
@@ -126,6 +132,12 @@
"data": {
"name": "Shake"
}
},
{
"type": "named",
"data": {
"name": "intaker_up"
}
}
]
}
src/main/java/frc/robot/Robot.java
+1 -1
View File
@@ -30,7 +30,7 @@ public class Robot extends TimedRobot {
public void disabledInit() {
System.out.println("Robot disabledInit called");
m_robotContainer.shooterSubsystem.stopAll();
m_robotContainer.climberSubsystem.stopAll();
// m_robotContainer.climberSubsystem.stopAll();
m_robotContainer.IntakerSubsystem.stopAll();
}
src/main/java/frc/robot/RobotContainer.java
+19 -11
View File
@@ -46,7 +46,7 @@ public class RobotContainer {
// Phoenix TunerX 生成的底盘
public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
public final ClimberSubsystem climberSubsystem = new ClimberSubsystem();
//public final ClimberSubsystem climberSubsystem = new ClimberSubsystem();
public final ShooterSubsystem shooterSubsystem = new ShooterSubsystem();
public final IntakerSubsystem IntakerSubsystem = new IntakerSubsystem();
@@ -60,7 +60,7 @@ public class RobotContainer {
public 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 ClimberControls climberControls = new ClimberControls(climberSubsystem, 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);
@@ -79,11 +79,19 @@ public class RobotContainer {
drivetrain.resetPose(startingPose);
configueSwerve();
configueShooter();
configueClimber();
// configueClimber();
bingdingLED();
configueIntaker();
// Autocommand.preNameCommands(
// climberSubsystem,
// IntakerSubsystem,
// drivetrain,
// shooterSubsystem,
// driveControls,
// shooterControls
// );
Autocommand.preNameCommands(
climberSubsystem,
IntakerSubsystem,
drivetrain,
shooterSubsystem,
@@ -197,17 +205,17 @@ public class RobotContainer {
shooterSubsystem.setRightFollowLeft();
}
private void configueClimber() {
climberSubsystem.setDefaultCommand(climberControls.defaultClimberCommand());
}
// private void configueClimber() {
// climberSubsystem.setDefaultCommand(climberControls.defaultClimberCommand());
// }
private void configueIntaker() {
IntakerSubsystem.setDefaultCommand(intakerControls.defaultIntakerCommand());
controllerupper.a().onTrue(intakerControls.resetIntakerRotaterEncoderCommand(IntakerSubsystem));
//controllerupper.a().onTrue(intakerControls.resetIntakerRotaterEncoderCommand(IntakerSubsystem));
}
public ClimberSubsystem getClimberSubsystem() {
return climberSubsystem;
}
// public ClimberSubsystem getClimberSubsystem() {
// return climberSubsystem;
// }
}
src/main/java/frc/robot/controls/Autocommand.java
+4 -4
View File
@@ -23,15 +23,15 @@ import frc.robot.Constants.RobotStatus;
public class Autocommand extends SequentialCommandGroup{
public static void preNameCommands(
ClimberSubsystem climber,
// ClimberSubsystem climber,
IntakerSubsystem intaker,
CommandSwerveDrivetrain drivetrain,
ShooterSubsystem shooter,
DriveControls driveControls,
ShooterControls shooterControls
) {
NamedCommands.registerCommand("climb_up", climb_up(climber));
NamedCommands.registerCommand("climb_down", climb_down(climber));
// NamedCommands.registerCommand("climb_up", climb_up(climber));
// NamedCommands.registerCommand("climb_down", climb_down(climber));
NamedCommands.registerCommand("start_intake", start_intake(intaker));
NamedCommands.registerCommand("start_intake_and_conveyor", start_intake_and_conveyor(intaker,shooter));
NamedCommands.registerCommand("stop_intake_and_conveyor", stop_intake_and_conveyor(intaker,shooter));
@@ -44,7 +44,7 @@ import frc.robot.Constants.RobotStatus;
NamedCommands.registerCommand("Shake", shake(driveControls));
NamedCommands.registerCommand("AutoAim", autoAim(driveControls));
NamedCommands.registerCommand("AutoShoot", autoShoot(shooterControls));
NamedCommands.registerCommand("climber_init", climber_Zeroencoder(climber));
// NamedCommands.registerCommand("climber_init", climber_Zeroencoder(climber));
NamedCommands.registerCommand("reset_backboard0", resetBackboard0Command(shooterControls));
}