From 118fdc408630087c64e7c4b8aa027d2cf022f49b Mon Sep 17 00:00:00 2001 From: OnDYCLaptop Date: Thu, 5 Mar 2026 15:41:05 +0800 Subject: [PATCH] =?UTF-8?q?=E7=BB=86=E5=8C=96=E4=BC=A0=E7=90=83=20?= =?UTF-8?q?=E5=BE=85=E6=89=93=E8=A1=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/main/java/frc/robot/Constants.java | 5 ----- src/main/java/frc/robot/controls/DriveControls.java | 4 +++- src/main/java/frc/robot/controls/ShooterControls.java | 4 ++-- src/main/java/frc/robot/subsystems/ShooterSubsystem.java | 7 +++++-- 4 files changed, 10 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index abab723..8793572 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -39,11 +39,6 @@ public final class Constants { public static final double backboardUpLimit = 3000.0; // 背板上限角度（根据实际需求设置） public static final double backboardDownLimit = 0.0; // 背板下限角度（根据实际需求设置） } - public class ShooterCalculation{ - public static final double positionNear = 0; // 近距离背板角度 - public static final double positionMid = 1600; // 中距离背板角度 - public static final double postionFar = 3200; // 远距离背板角度 - } public class AutoPositioning { public static final double autoRotationkP = 0.1; public static final double autoRotationForBumpTargetDegrees = 45; diff --git a/src/main/java/frc/robot/controls/DriveControls.java b/src/main/java/frc/robot/controls/DriveControls.java index 1b8779f..b273d0a 100644 --- a/src/main/java/frc/robot/controls/DriveControls.java +++ b/src/main/java/frc/robot/controls/DriveControls.java @@ -124,7 +124,9 @@ public class DriveControls { // 将距离值写入 NetworkTable autoControlNetworkTable.getEntry("distanceToHub").setDouble(distanceAndRotation[0]); autoControlNetworkTable.getEntry("angleDifferenceToHub").setDouble(distanceAndRotation[1]); - + autoControlNetworkTable.getEntry("distanceToPassball").setDouble(calculateDistanceAndRotationToPassBall()[0]); + autoControlNetworkTable.getEntry("angleDifferenceToPassball").setDouble(calculateDistanceAndRotationToPassBall()[1]); + switch (robotStatusManager.getStatus()) { case Stopped: vx = 0; diff --git a/src/main/java/frc/robot/controls/ShooterControls.java b/src/main/java/frc/robot/controls/ShooterControls.java index 50fef46..48bcfc3 100644 --- a/src/main/java/frc/robot/controls/ShooterControls.java +++ b/src/main/java/frc/robot/controls/ShooterControls.java @@ -38,7 +38,7 @@ public class ShooterControls { break; case AllTelop: case PassingBall: - var xP = shooterSubsystem.getDistance(); + var xP = shooterSubsystem.getDistanceToPassball(); //xP = Math.max(1.2, Math.min(4.5, xP)); flywheelSpeed = 0.6956596811733782*xP*xP*xP*xP*xP*xP*xP-14.164408860183267*xP*xP*xP*xP*xP*xP+119.7115375240918*xP*xP*xP*xP*xP-543.0984876677477*xP*xP*xP*xP+1425.1928543240738*xP*xP*xP-2156.199296490315*xP*xP+1736.568139600292*xP-516.097598057351; flywheelSpeed += flywheelSpeedOffset; @@ -65,7 +65,7 @@ public class ShooterControls { } break; case AutoAimming: - var x = shooterSubsystem.getDistance(); + var x = shooterSubsystem.getDistanceToHub(); x = Math.max(1.2, Math.min(4.5, x)); flywheelSpeed = 0.6956596811733782*x*x*x*x*x*x*x-14.164408860183267*x*x*x*x*x*x+119.7115375240918*x*x*x*x*x-543.0984876677477*x*x*x*x+1425.1928543240738*x*x*x-2156.199296490315*x*x+1736.568139600292*x-516.097598057351; flywheelSpeed += flywheelSpeedOffset; diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java index 47f38b0..2bf1cf0 100644 --- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java @@ -161,11 +161,14 @@ public class ShooterSubsystem extends SubsystemBase { shooterNetworkTable.getEntry("backboardCurrentRate").setDouble(getBackboardPosition()); shooterNetworkTable.getEntry("backboardTargetRate").setDouble(backboardPID.getSetpoint().position); shooterNetworkTable.getEntry("isBackboardAtTarget").setBoolean(isBackboardAtTarget()); - shooterNetworkTable.getEntry("distanceGetted").setDouble(getDistance()); + shooterNetworkTable.getEntry("distanceGetted").setDouble(getDistanceToHub()); } - public double getDistance(){ + public double getDistanceToHub(){ //获得车子距离Hub的距离 return NetworkTableInstance.getDefault().getTable("AutoControl").getEntry("distanceToHub").getDouble(0.0); } + public double getDistanceToPassball(){ + return NetworkTableInstance.getDefault().getTable("AutoControl").getEntry("distanceToPassball").getDouble(0.0); + } }