admin6494/FRC6494_2026Regional-offseason
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细化传球 待打表

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OnDYCLaptop
2026-03-05 15:41:05 +08:00
parent 6d996a35cd
commit 118fdc4086
4 changed files with 10 additions and 10 deletions
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src/main/java/frc/robot/controls/ShooterControls.java
+2 -2
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@@ -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;