admin6494/FRC6494_2026Regional-offseason
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

键位定义 手动协作 bug没改完

Browse Source
This commit is contained in:
OnDYCLaptop
2026-02-23 22:52:10 +08:00
parent b347e93078
commit 146e373f8c
8 changed files with 423 additions and 140 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc/robot/RobotContainer.java
+34 -17
View File
@@ -10,6 +10,7 @@ import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
import frc.robot.Constants.RobotStatus;
import frc.robot.controls.DriveControls;
import frc.robot.controls.ShooterControls;
import frc.robot.generated.TunerConstants;
@@ -41,12 +42,13 @@ public class RobotContainer {
// LED 子系统
private final LEDSubsystem leds = new LEDSubsystem(0, 72 ,0); // 总长度=72+72
private final RobotStatusManager robotStatusManager = new RobotStatusManager();
/* ====================== */
/* 控制封装/日志 */
/* ====================== */
private final DriveControls driveControls = new DriveControls(drivetrain, controller);
private final ShooterControls shooterControls = new ShooterControls(shooterSubsystem, controller);
private final DriveControls driveControls = new DriveControls(drivetrain, controller,robotStatusManager );
private final ShooterControls shooterControls = new ShooterControls(shooterSubsystem, controller,robotStatusManager);
private final DriveGainsTuner driveGainsTuner = new DriveGainsTuner(drivetrain);
private ConfigTalonFXMotorTuner configFlywheelTuner = new ConfigTalonFXMotorTuner(shooterSubsystem.flywheelMotorLeft, "flywheel", Constants.Shooter.flyWheelSlot0Configs);
@@ -55,6 +57,7 @@ public class RobotContainer {
private final SendableChooser<Command> autoChooser;
public RobotContainer() {
SignalLogger.enableAutoLogging(false);
autoChooser = AutoBuilder.buildAutoChooser();
@@ -72,31 +75,46 @@ public class RobotContainer {
Pose2d startingPose = Constants.StartingPoints.Red.Point2;
drivetrain.resetPose(startingPose);
// 默认驾驶命令
// 默认驾驶命令
/*
* LeftX 底盘左右
* LeftY 底盘前后 Bump/Trench偏移未完成
* RightX Aiming偏移 AllTelop模式下 底盘旋转
*
*/
drivetrain.setDefaultCommand(driveControls.defaultDriveCommand());
// Disabled 时进入 idle（防止模块乱动）
RobotModeTriggers.disabled().whileTrue(driveControls.idleCommand());
//左保险：按住刹车
controller.leftBumper()
.onTrue(Commands.runOnce(driveControls::emergencyStop))
.whileTrue(driveControls.brakeWhileHeld());
// //左保险：按住刹车
// controller.leftBumper()
// .onTrue(Commands.runOnce(driveControls::emergencyStop))
// .whileTrue(driveControls.brakeWhileHeld());
// // 右保险：按住加速（Boost）
// controller.rightBumper()
// .onTrue(Commands.runOnce(() -> driveControls.setBoostEnabled(true)))
// .onFalse(Commands.runOnce(() -> driveControls.setBoostEnabled(false)));
// Back：重置场地坐标系
// Back：重置场地坐标系角度
controller.back().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric));
// Start：切换场地/车体坐标系
controller.start().onTrue(Commands.runOnce(driveControls::toggleDriveFrame));
// Start：强行使用metaTag2全场定位
controller.start().whileTrue(drivetrain.run(drivetrain::forceUsingLimelightMT2));
// 右保险：按住加速（Boost）
controller.rightBumper()
.onTrue(Commands.runOnce(() -> driveControls.setBoostEnabled(true)))
.onFalse(Commands.runOnce(() -> driveControls.setBoostEnabled(false)));
controller.a().whileTrue(drivetrain.runOnce(drivetrain::forceUsingLimelightMT2));
//LM 按下时使用机器人坐标系
controller.leftStick().onTrue(robotStatusManager.setStatusCommand(RobotStatus.AutoAimming));
controller.leftStick().onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
controller.rightStick().and(controller.leftBumper())
.onTrue(robotStatusManager.setStatusCommand(RobotStatus.CrossingBump))
.onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
controller.rightStick().and(controller.rightBumper())
.onTrue(robotStatusManager.setStatusCommand(RobotStatus.CrossingTrench))
.onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
}
private void configueShooter(){
@@ -107,7 +125,6 @@ public class RobotContainer {
controller.povUp().onTrue(Commands.runOnce(() -> shooterControls.adjustBackboardRateOffset(100)));
controller.povDown().onTrue(Commands.runOnce(() -> shooterControls.adjustBackboardRateOffset(-100)));
}
/* ====================== */
/* LED 绑定 */
/* ====================== */