完整正赛

src/main/deploy/pathplanner/autos/8 Balls Middle Start Blue.auto

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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() {
+  // private void configueClimber() {
-    climberSubsystem.setDefaultCommand(climberControls.defaultClimberCommand());
+  //   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() {
+  // public ClimberSubsystem getClimberSubsystem() {
-      return climberSubsystem;
+  //     return climberSubsystem;
-  }
+  // }
 
 }

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

@@ -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_up", climb_up(climber));
-        NamedCommands.registerCommand("climb_down", climb_down(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));
 
     }