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OnDYCLaptop
2026-07-07 23:25:10 +08:00
parent 2b14e3f99e
commit 1c39a3bc42
15 changed files with 1518 additions and 412 deletions
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src/main/java/frc/robot/Constants.java
+35 -38
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@@ -12,27 +12,28 @@ public final class Constants {
public static class Shooter {
// 机构 CAN ID 目前是占位值；季后赛最终接线确认后，只需要改这里。
public static final int leftFlywheelID = 41;
public static final int rightFlywheelID = 42;
public static final int leftConveyorID = 43;
public static final int rightConveyorID = 45;
public static final int leftFlywheelID = 38;
public static final int rightFlywheelID = 39;
public static final int leftConveyorID = 40;
public static final int rightConveyorID = 37;
public static final int backboardMotorID = 44;
public static final double flywheelSpeedToleranceRps = 5.0;
public static final double defaultFlywheelTargetRps = 64.0;
public static final double defaultFlywheelVoltage = 3.34;
public static final double flywheelReadyVoltageThreshold = 1.0;
public static final double flywheelReadyDelaySeconds = 0.5;
// 距离(米) -> 飞轮转速(RPS) 射表。当前为占位点；
// 距离(米) -> 飞轮电压(V) 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();
public static final InterpolatingDoubleTreeMap flywheelVoltageByDistance = 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);
flywheelVoltageByDistance.put(1.2, 5.82);
flywheelVoltageByDistance.put(2.5, 6.34);
flywheelVoltageByDistance.put(3.5, 6.73);
flywheelVoltageByDistance.put(5.0, 7.33);
}
public static final double conveyorSpeed = 150;
public static final double conveyorSpeedForAuto = 10;
public static final double shooterConveyorFeedVoltage = 3.0;
public static final double shooterConveyorReverseVoltage = -2.0;
public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs()
.withKP(0.0).withKI(0).withKD(0)
@@ -47,13 +48,14 @@ public final class Constants {
.withKV(0.03).withKA(0.0).withKS(0.010);
public static class backboardPositionPID {
public static final double kP = 0.3;
public static final double kP = 0.007;
public static final double kI = 0.0;
public static final double kD = 0.0;
}
public static final double backboardSpeedMax = 60;
public static final double backboardUpLimit = 3000.0;
public static final double backboardSpeedMax = 5.0;
public static final double backboardSpeedMin = 0.4;
public static final double backboardUpLimit = 2200.0;
public static final double backboardDownLimit = 0.0;
}
@@ -93,8 +95,8 @@ public final class Constants {
}
public static class Limelight {
public static final String LIMELIGHT_NAME_Shooter = "limelight-shooter";
public static final String LIMELIGHT_NAME_Intaker = "limelight-intaker";
public static final String LIMELIGHT_NAME_Shooter = "limelight-left";
public static final String LIMELIGHT_NAME_Intaker = "limelight-front";
public static final Boolean UsingMetaTag2 = true;
public static final int locatePipelineIndex = 0;
}
@@ -112,24 +114,20 @@ public final class Constants {
public static class Intaker {
// 进球机构 CAN ID 同样是占位值，真实 ID 确认后集中在这里修改。
public static final int leftIntakeRollerID = 47;
public static final int rightIntakeRollerID = 46;
public static final int leftIntakeRollerID = 20;
public static final int rightIntakeRollerID = 47;
public static final int leftIntakeRotaterID = 48;
public static final int rightIntakeRotaterID = 49;
public static final int rightIntakeRotaterID = 43;
public static final double intakeRollerIntakeSpeedRps = 30.0;
public static final double intakeRollerOuttakeSpeedRps = -30.0;
public static final double intakeRollerIntakeVoltage = -6.0;
public static final double intakeRollerOuttakeVoltage = 3.0;
public static final double intakeRotaterRaiseVoltage = 0.8;
public static final double intakeRotaterLowerVoltage = 0.05;
public static final double intakeRotaterLoweredPosition = -7.6;
public static final double intakeRotaterShootAssistUpPosition = -2.5;
public static final double intakeRotaterManualRaiseVoltage = 2.0;
public static final double intakeRotaterManualLowerVoltage = -2.0;
public static final double intakeRotaterShootAssistPeriodSeconds = 0.4;
public static final double intakeRotaterShootAssistUpDutyCycle = 0.5;
public static final double intakeRotaterUpLimit = 0.0;
public static final double intakeRotaterDownLimit = -7.6;
public static final Slot0Configs intakeRollerSlot0Configs = new Slot0Configs()
.withKP(0.00).withKI(0.00).withKD(0.00)
.withKV(0.00).withKA(0.00).withKS(0.00);
@@ -141,13 +139,12 @@ public final class Constants {
public static final double IntakeGetterSpeedforAuto = 0.5;
// 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;
}
public static class Conveyor {
public static final int mainConveyorID = 50;
public static final double feedSpeedRps = 30.0;
public static final double reverseSpeedRps = -30.0;
public static final int mainConveyorID = 42;
public static final double feedVoltage = 2.5;
public static final double reverseVoltage = -2.0;
public static final Slot0Configs mainConveyorSlot0Configs = new Slot0Configs()
.withKP(0.00).withKI(0.00).withKD(0.00)
@@ -156,12 +153,12 @@ public final class Constants {
public static class Superstructure {
// 状态机时间和门控容差。真车基础动作验证后，需要现场调这些值。
public static final double shooterFeedSpeedRps = Shooter.conveyorSpeed;
public static final double shooterReverseSpeedRps = -Shooter.conveyorSpeed * 0.6;
public static final double shooterFeedVoltage = Shooter.shooterConveyorFeedVoltage;
public static final double shooterReverseVoltage = Shooter.shooterConveyorReverseVoltage;
public static final double shootTimeoutSeconds = 1.0;
public static final double aimToleranceDegrees = 1.5;
public static final double stationarySpeedToleranceMetersPerSecond = 0.5;
public static final double passBallFlywheelRps = Shooter.defaultFlywheelTargetRps;
public static final double passBallFlywheelVoltage = Shooter.defaultFlywheelVoltage;
public static final double passBallBackboardPosition = 175.0;
// 射击时背板的目标位置（外接编码器计数）。