admin6494/FRC6494_2026Regional-offseason
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Merge branch '7.4' of https://github.com/HarryWang163/FRC6494_2026Regional into 7.4

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OnDYCLaptop
2026-07-04 21:08:04 +08:00
parent a78a71e4ed fad52c40c0
commit 0c97452a13
11 changed files with 277 additions and 160 deletions
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src/main/java/frc/robot/Constants.java
+35 -1
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@@ -3,6 +3,7 @@ package frc.robot;
import com.ctre.phoenix6.configs.Slot0Configs;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
public final class Constants {
private Constants() {}
@@ -33,6 +34,16 @@ public final class Constants {
public static final double flywheelSpeedToleranceRps = 5.0;
public static final double defaultFlywheelTargetRps = 64.0;
// 距离(米) -> 飞轮转速(RPS) 射表。当前为占位点；
// 真车试射后按实测数据加点即可，查表自动线性插值并在两端取边界值。
public static final InterpolatingDoubleTreeMap flywheelRpsByDistance = new InterpolatingDoubleTreeMap();
static {
flywheelRpsByDistance.put(1.2, 58.8);
flywheelRpsByDistance.put(2.5, 64.0);
flywheelRpsByDistance.put(3.5, 68.0);
flywheelRpsByDistance.put(5.0, 74.0);
}
public static final double conveyorSpeed = 150;
public static final double conveyorSpeedForAuto = 10;
@@ -143,7 +154,16 @@ public final class Constants {
.withKV(0.00).withKA(0.00).withKS(0.00);
public static final double IntakeGetterSpeedforAuto = 0.5;
public static final double positionToleranceRotations = 0.00;
// atGoal 判定容差。为 0 会导致 atGoal 永远为 false、射击门控永远不通过；
// 这里给出可用的占位值，真车调好位置闭环后再收紧。
public static final double positionToleranceRotations = 0.3;
// 上电时按机构处于收拢（STOW）姿态直接归零。
// 比赛规则要求开赛前机器人处于合法初始姿态，因此这是安全假设；
// 若维修后姿态不确定，置 false 并用操作员 A 键手动归零。
// 没有这个假设，自动赛阶段无人能按归零键，收球和射击会被
// 未归零保护永久拦下。
public static final boolean assumeZeroedOnBoot = true;
}
public static class Conveyor {
@@ -160,5 +180,19 @@ public final class Constants {
public static final double shootTimeoutSeconds = 1.0;
public static final double aimToleranceDegrees = 1.5;
public static final double stationarySpeedToleranceMetersPerSecond = 0.5;
// 松开 intake 键后，INDEXING 状态继续收纳球的时长。
public static final double indexingSeconds = 0.5;
// 射击时背板的目标位置（外接编码器计数）。
public static final double backboardShootPosition = 175.0;
// 没有球检测传感器，持球状态由状态机跟踪推断。
// 若跟踪不可靠导致射击被卡，可临时置 false 旁路 hasNote 门控。
public static final boolean hasNoteGateEnabled = true;
// 比赛开局机器人带预装球，开机默认持球为 true；
// 否则自动赛的第一发射击会被 hasNote 门控拦死。
// 空车调试时可置 false，或用操作员 X 键运行时翻转持球状态。
public static final boolean assumePreloadedAtBoot = true;
// 射击门控是否要求底盘接近静止。
public static final boolean stationaryGateEnabled = true;
}
}