细化传球 待打表

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;

src/main/java/frc/robot/controls/DriveControls.java

@@ -124,6 +124,8 @@ 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:

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;

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);
+    }
 }