From 0b6cf55dc06b676cb4a641e119cc40a790a930fb Mon Sep 17 00:00:00 2001
From: OnDYCLaptop <dingdoorfiah@gamil.com>
Date: Tue, 19 May 2026 15:37:54 +0800
Subject: [PATCH] =?UTF-8?q?=E4=B8=80=E4=B8=AA=E6=89=8B=E6=9F=84=E7=9A=84?=
 =?UTF-8?q?=E5=AE=89=E5=85=A8=E6=BC=94=E7=A4=BA=E7=89=88?=
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---
 src/main/java/frc/robot/RobotContainer.java   | 22 ++++++++++---------
 .../frc/robot/controls/IntakerControls.java   |  8 ++++++-
 .../frc/robot/controls/ShooterControls.java   |  2 +-
 3 files changed, 20 insertions(+), 12 deletions(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 312cac9..079f8dd 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -36,9 +36,9 @@ public class RobotContainer {
   /*         手柄            */
   /* ====================== */
 
-  // 使用2个 Xbox 手柄（端口 0,1）
+  // Demo mode uses one Xbox controller on port 0.
   private final CommandXboxController controllerlower = new CommandXboxController(0);
-  private final CommandXboxController controllerupper = new CommandXboxController(1);
+  private final CommandXboxController controllerupper = controllerlower;
 
   /* ====================== */
   /*         子系统           */
@@ -124,6 +124,8 @@ public class RobotContainer {
     // Disabled 时进入 idle（防止模块乱动）
     RobotModeTriggers.disabled().whileTrue(driveControls.idleCommand());
 
+    if (!Constants.DemoMode.ENABLED) {
+
     
     //左保险：按住刹车
     controllerlower.leftBumper()
@@ -139,13 +141,7 @@ public class RobotContainer {
     controllerlower.back().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric));
     
     // Start：强行使用metaTag2全场定位
-    if (Constants.DemoMode.ENABLED) {
-      controllerlower.start()
-          .onTrue(Commands.runOnce(driveControls::emergencyStop)
-          .andThen(robotStatusManager.setStatusCommand(RobotStatus.Stopped)))
-          .onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
-    } else {
-      controllerlower.start().whileTrue(drivetrain.run(drivetrain::forceUsingLimelightmt2));
+    controllerlower.start().whileTrue(drivetrain.run(drivetrain::forceUsingLimelightmt2));
 
     controllerlower.a().whileTrue(drivetrain.run(()->{drivetrain.forceUsingLimelightmt2WithllName(Constants.Limelight.LIMELIGHT_NAME_Shooter);
                                                       System.out.println("Try using shooter for metatag2");
@@ -188,7 +184,13 @@ public class RobotContainer {
     controllerupper.povUp().onTrue(Commands.runOnce(() -> shooterControls.adjustBackboardRateOffset(100)));
     controllerupper.povDown().onTrue(Commands.runOnce(() -> shooterControls.adjustBackboardRateOffset(-100)));
     controllerupper.back().onTrue(Commands.runOnce(() -> shooterControls.resetOffsets()));
-    controllerupper.start().onTrue(shooterControls.resetBackboardCommand());
+    if (Constants.DemoMode.ENABLED) {
+      controllerupper.rightTrigger()
+          .onTrue(robotStatusManager.setStatusCommand(RobotStatus.AutoAimming))
+          .onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
+    } else {
+      controllerupper.start().onTrue(shooterControls.resetBackboardCommand());
+    }
     
   }
 
diff --git a/src/main/java/frc/robot/controls/IntakerControls.java b/src/main/java/frc/robot/controls/IntakerControls.java
index 0937c78..c3084e7 100644
--- a/src/main/java/frc/robot/controls/IntakerControls.java
+++ b/src/main/java/frc/robot/controls/IntakerControls.java
@@ -81,6 +81,12 @@ public class IntakerControls {
 
         IntakerSubsystem.setIntakerGetterSpeed(getterspeed);
 
+        boolean demoModeEnabled = Constants.DemoMode.ENABLED;
+        if (demoModeEnabled) {
+            IntakerSubsystem.stopIntakerotater();
+            return;
+        }
+
         if(controller.getLeftY() < -0.5){
                     IntakerSubsystem.IntakerUpNonStop();
             } else if(controller.getLeftY() > 0.5){
@@ -93,4 +99,4 @@ public class IntakerControls {
     public Command resetIntakerRotaterEncoderCommand(IntakerSubsystem intakerSubsystem) {
         return Commands.runOnce(intakerSubsystem::zeroEncoder, intakerSubsystem);
     }
-}
\ No newline at end of file
+}
diff --git a/src/main/java/frc/robot/controls/ShooterControls.java b/src/main/java/frc/robot/controls/ShooterControls.java
index ac98a70..fb0cd04 100644
--- a/src/main/java/frc/robot/controls/ShooterControls.java
+++ b/src/main/java/frc/robot/controls/ShooterControls.java
@@ -48,7 +48,7 @@ public class ShooterControls {
                         shooterSubsystem.outputBackboard();
                     }  
                     shooterSubsystem.setFlywheelSpeedByRPS(0);
-                    if(controller.a().getAsBoolean()) { shooterSubsystem.setConveyorSpeedByRPS(Constants.Shooter.conveyorSpeed);}
+                    if(!Constants.DemoMode.ENABLED && controller.a().getAsBoolean()) { shooterSubsystem.setConveyorSpeedByRPS(Constants.Shooter.conveyorSpeed);}
                     else{shooterSubsystem.setConveyorSpeedByRPS(0);}
                     break;
                 case PassingBall: