From 06340c572464f1111356a8a46f7e5135c040bc8f Mon Sep 17 00:00:00 2001
From: Alyssum-chenyiyi <13162501939@163.com>
Date: Sun, 1 Mar 2026 16:11:31 +0800
Subject: [PATCH] climber
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现在，当想让climber放下时，它会一直运动直到松开按键
此外，当xy同时被按下时，编码器将会被清零
---
 src/main/java/frc/robot/Constants.java                   | 1 +
 src/main/java/frc/robot/controls/ClimberControls.java    | 8 ++++++--
 src/main/java/frc/robot/subsystems/ClimberSubsystem.java | 7 +++++++
 3 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index fc94776..f5efb93 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -122,6 +122,7 @@ public final class Constants {
     public static final double climbUpTicks = 94; // TODO: 实测后调整
     public static final double climbDownTicks = 0; // TODO: 实测后调整
     public static final double holdToleranceRot = 0.5; 
+    public static final double deltaDownTicks = 1;
 
     public static final Slot0Configs slot0Configs = new Slot0Configs();
 
diff --git a/src/main/java/frc/robot/controls/ClimberControls.java b/src/main/java/frc/robot/controls/ClimberControls.java
index ba01cac..8040e04 100644
--- a/src/main/java/frc/robot/controls/ClimberControls.java
+++ b/src/main/java/frc/robot/controls/ClimberControls.java
@@ -24,15 +24,19 @@ public class ClimberControls {
         return Commands.run(()->{
             //climber.climbUp();
                 // 优先级：如果同时按，优先上升（你也可以反过来）
-                if (controller.y().getAsBoolean()) {
+                if(controller.y().getAsBoolean()&&controller.x().getAsBoolean()){
+                    climber.zeroEncoder();
+                }
+                else if (controller.y().getAsBoolean()) {
                     climber.climbUp();
                 } else if (controller.x().getAsBoolean()) {
-                    climber.climbDown();
+                    climber.climbDownNonStop();
                 } else {
                     // 松开：记录当前位置 + 锁死
                     climber.captureHoldPosition();
                     climber.holdPosition();
                 }
+                
 
                 // 调试用
                 table.getEntry("xHeld_up").setBoolean(controller.x().getAsBoolean());
diff --git a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
index 20eccac..051a3b1 100644
--- a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
@@ -25,6 +25,7 @@ public class ClimberSubsystem extends SubsystemBase {
     private final VelocityVoltage velocityRequest = new VelocityVoltage(0).withSlot(0);
 
     private double holdPositionTicks = 0.0;
+    private double deltaPositionTicks = 0.0;
 
     private final NetworkTable climberTable;
     
@@ -71,6 +72,12 @@ public class ClimberSubsystem extends SubsystemBase {
     public void climbDown() {
         targetPositionTicks = Constants.Climber.climbDownTicks;  
         climberMotor.setControl(positionHoldRequest.withPosition(targetPositionTicks));
+        
+    }
+    public void climbDownNonStop(){
+
+        deltaPositionTicks = Constants.Climber.deltaDownTicks;  
+        climberMotor.setControl(positionHoldRequest.withPosition(targetPositionTicks-deltaPositionTicks));
     }
 
     public void captureHoldPosition() {