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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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elastic-layout-debug.json
+1197 -198
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File diff suppressed because it is too large Load Diff
elastic-layout.json
+28 -28
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@@ -768,14 +768,14 @@
} }
}, },
{ {
"title": "flywheelRunningSpeedRPS", "title": "flywheelRunningVolts",
"x": 640.0, "x": 640.0,
"y": 128.0, "y": 128.0,
"width": 256.0, "width": 256.0,
"height": 128.0, "height": 128.0,
"type": "Text Display", "type": "Text Display",
"properties": { "properties": {
"topic": "/Tuning/flywheel/flywheelRunningSpeedRPS", "topic": "/Tuning/flywheel/flywheelRunningVolts",
"period": 0.06, "period": 0.06,
"data_type": "double", "data_type": "double",
"show_submit_button": true "show_submit_button": true
@@ -845,27 +845,27 @@
"layouts": [], "layouts": [],
"containers": [ "containers": [
{ {
"title": "limelight-intaker", "title": "limelight-front",
"x": 0.0, "x": 0.0,
"y": 0.0, "y": 0.0,
"width": 256.0, "width": 256.0,
"height": 256.0, "height": 256.0,
"type": "Camera Stream", "type": "Camera Stream",
"properties": { "properties": {
"topic": "/CameraPublisher/limelight-intaker", "topic": "/CameraPublisher/limelight-front",
"period": 0.06, "period": 0.06,
"rotation_turns": 0 "rotation_turns": 0
} }
}, },
{ {
"title": "limelight-shooter", "title": "limelight-left",
"x": 768.0, "x": 768.0,
"y": 512.0, "y": 512.0,
"width": 640.0, "width": 640.0,
"height": 384.0, "height": 384.0,
"type": "Camera Stream", "type": "Camera Stream",
"properties": { "properties": {
"topic": "/CameraPublisher/limelight-shooter", "topic": "/CameraPublisher/limelight-left",
"period": 0.06, "period": 0.06,
"rotation_turns": 0 "rotation_turns": 0
} }
@@ -909,7 +909,7 @@
"height": 128.0, "height": 128.0,
"type": "Boolean Box", "type": "Boolean Box",
"properties": { "properties": {
"topic": "/Positioning/limelight-intaker/available", "topic": "/Positioning/limelight-front/available",
"period": 0.06, "period": 0.06,
"data_type": "boolean", "data_type": "boolean",
"true_color": 4283215696, "true_color": 4283215696,
@@ -926,7 +926,7 @@
"height": 128.0, "height": 128.0,
"type": "Boolean Box", "type": "Boolean Box",
"properties": { "properties": {
"topic": "/Positioning/limelight-shooter/available", "topic": "/Positioning/limelight-left/available",
"period": 0.06, "period": 0.06,
"data_type": "boolean", "data_type": "boolean",
"true_color": 4283215696, "true_color": 4283215696,
@@ -1034,7 +1034,7 @@
"height": 128.0, "height": 128.0,
"type": "Text Display", "type": "Text Display",
"properties": { "properties": {
"topic": "/Positioning/limelight-intaker/Distance", "topic": "/Positioning/limelight-front/Distance",
"period": 0.06, "period": 0.06,
"data_type": "double", "data_type": "double",
"show_submit_button": true "show_submit_button": true
@@ -1064,7 +1064,7 @@
"height": 128.0, "height": 128.0,
"type": "Text Display", "type": "Text Display",
"properties": { "properties": {
"topic": "/Positioning/limelight-shooter/Distance", "topic": "/Positioning/limelight-left/Distance",
"period": 0.06, "period": 0.06,
"data_type": "double", "data_type": "double",
"show_submit_button": true "show_submit_button": true
@@ -1138,7 +1138,7 @@
"height": 128.0, "height": 128.0,
"type": "Text Display", "type": "Text Display",
"properties": { "properties": {
"topic": "/Positioning/limelight-intaker/X", "topic": "/Positioning/limelight-front/X",
"period": 0.06, "period": 0.06,
"data_type": "double", "data_type": "double",
"show_submit_button": true "show_submit_button": true
@@ -1152,7 +1152,7 @@
"height": 128.0, "height": 128.0,
"type": "Text Display", "type": "Text Display",
"properties": { "properties": {
"topic": "/Positioning/limelight-intaker/Y", "topic": "/Positioning/limelight-front/Y",
"period": 0.06, "period": 0.06,
"data_type": "double", "data_type": "double",
"show_submit_button": true "show_submit_button": true
@@ -1166,7 +1166,7 @@
"height": 128.0, "height": 128.0,
"type": "Text Display", "type": "Text Display",
"properties": { "properties": {
"topic": "/Positioning/limelight-shooter/X", "topic": "/Positioning/limelight-left/X",
"period": 0.06, "period": 0.06,
"data_type": "double", "data_type": "double",
"show_submit_button": true "show_submit_button": true
@@ -1180,7 +1180,7 @@
"height": 128.0, "height": 128.0,
"type": "Text Display", "type": "Text Display",
"properties": { "properties": {
"topic": "/Positioning/limelight-shooter/Y", "topic": "/Positioning/limelight-left/Y",
"period": 0.06, "period": 0.06,
"data_type": "double", "data_type": "double",
"show_submit_button": true "show_submit_button": true
@@ -1195,14 +1195,14 @@
"layouts": [], "layouts": [],
"containers": [ "containers": [
{ {
"title": "limelight-shooter", "title": "limelight-left",
"x": 1152.0, "x": 1152.0,
"y": 0.0, "y": 0.0,
"width": 384.0, "width": 384.0,
"height": 256.0, "height": 256.0,
"type": "Camera Stream", "type": "Camera Stream",
"properties": { "properties": {
"topic": "/CameraPublisher/limelight-shooter", "topic": "/CameraPublisher/limelight-left",
"period": 0.06, "period": 0.06,
"rotation_turns": 0 "rotation_turns": 0
} }
@@ -1224,14 +1224,14 @@
} }
}, },
{ {
"title": "conveyorSpeed", "title": "conveyorVelocity",
"x": 384.0, "x": 384.0,
"y": 256.0, "y": 256.0,
"width": 128.0, "width": 128.0,
"height": 128.0, "height": 128.0,
"type": "Text Display", "type": "Text Display",
"properties": { "properties": {
"topic": "/Shooter/conveyorSpeed", "topic": "/Shooter/conveyorVelocity",
"period": 0.06, "period": 0.06,
"data_type": "double", "data_type": "double",
"show_submit_button": true "show_submit_button": true
@@ -1271,14 +1271,14 @@
} }
}, },
{ {
"title": "flywheelSpeed", "title": "flywheelVelocity",
"x": 640.0, "x": 640.0,
"y": 0.0, "y": 0.0,
"width": 256.0, "width": 256.0,
"height": 256.0, "height": 256.0,
"type": "Graph", "type": "Graph",
"properties": { "properties": {
"topic": "/Shooter/flywheelSpeed", "topic": "/Shooter/flywheelVelocity",
"period": 0.033, "period": 0.033,
"data_type": "double", "data_type": "double",
"time_displayed": 5.0, "time_displayed": 5.0,
@@ -1322,14 +1322,14 @@
} }
}, },
{ {
"title": "conveyorSpeed", "title": "conveyorVelocity",
"x": 384.0, "x": 384.0,
"y": 0.0, "y": 0.0,
"width": 256.0, "width": 256.0,
"height": 256.0, "height": 256.0,
"type": "Graph", "type": "Graph",
"properties": { "properties": {
"topic": "/Shooter/conveyorSpeed", "topic": "/Shooter/conveyorVelocity",
"period": 0.033, "period": 0.033,
"data_type": "double", "data_type": "double",
"time_displayed": 5.0, "time_displayed": 5.0,
@@ -1338,14 +1338,14 @@
} }
}, },
{ {
"title": "flywheelSpeed", "title": "flywheelVelocity",
"x": 640.0, "x": 640.0,
"y": 256.0, "y": 256.0,
"width": 128.0, "width": 128.0,
"height": 128.0, "height": 128.0,
"type": "Text Display", "type": "Text Display",
"properties": { "properties": {
"topic": "/Shooter/flywheelSpeed", "topic": "/Shooter/flywheelVelocity",
"period": 0.033, "period": 0.033,
"data_type": "double", "data_type": "double",
"show_submit_button": true "show_submit_button": true
@@ -1380,14 +1380,14 @@
} }
}, },
{ {
"title": "flywheelTargetSpeed", "title": "flywheelTargetVoltage",
"x": 768.0, "x": 768.0,
"y": 256.0, "y": 256.0,
"width": 128.0, "width": 128.0,
"height": 128.0, "height": 128.0,
"type": "Text Display", "type": "Text Display",
"properties": { "properties": {
"topic": "/ShooterControl/flywheelTargetSpeed", "topic": "/Shooter/flywheelTargetVoltage",
"period": 0.06, "period": 0.06,
"data_type": "double", "data_type": "double",
"show_submit_button": true "show_submit_button": true
@@ -1424,14 +1424,14 @@
} }
}, },
{ {
"title": "flywheelTargetSpeed", "title": "flywheelTargetVoltage",
"x": 640.0, "x": 640.0,
"y": 384.0, "y": 384.0,
"width": 256.0, "width": 256.0,
"height": 256.0, "height": 256.0,
"type": "Graph", "type": "Graph",
"properties": { "properties": {
"topic": "/ShooterControl/flywheelTargetSpeed", "topic": "/Shooter/flywheelTargetVoltage",
"period": 0.033, "period": 0.033,
"data_type": "double", "data_type": "double",
"time_displayed": 5.0, "time_displayed": 5.0,
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 { 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。 // 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 leftFlywheelID = 38;
public static final int rightFlywheelID = 42; public static final int rightFlywheelID = 39;
public static final int leftConveyorID = 43; public static final int leftConveyorID = 40;
public static final int rightConveyorID = 45; public static final int rightConveyorID = 37;
public static final int backboardMotorID = 44; public static final int backboardMotorID = 44;
public static final double flywheelSpeedToleranceRps = 5.0; public static final double defaultFlywheelVoltage = 3.34;
public static final double defaultFlywheelTargetRps = 64.0; 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。 // 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 { static {
flywheelRpsByDistance.put(1.2, 58.8); flywheelVoltageByDistance.put(1.2, 5.82);
flywheelRpsByDistance.put(2.5, 64.0); flywheelVoltageByDistance.put(2.5, 6.34);
flywheelRpsByDistance.put(3.5, 68.0); flywheelVoltageByDistance.put(3.5, 6.73);
flywheelRpsByDistance.put(5.0, 74.0); flywheelVoltageByDistance.put(5.0, 7.33);
} }
public static final double conveyorSpeed = 150; public static final double shooterConveyorFeedVoltage = 3.0;
public static final double conveyorSpeedForAuto = 10; public static final double shooterConveyorReverseVoltage = -2.0;
public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs() public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs()
.withKP(0.0).withKI(0).withKD(0) .withKP(0.0).withKI(0).withKD(0)
@@ -47,13 +48,14 @@ public final class Constants {
.withKV(0.03).withKA(0.0).withKS(0.010); .withKV(0.03).withKA(0.0).withKS(0.010);
public static class backboardPositionPID { 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 kI = 0.0;
public static final double kD = 0.0; public static final double kD = 0.0;
} }
public static final double backboardSpeedMax = 60; public static final double backboardSpeedMax = 5.0;
public static final double backboardUpLimit = 3000.0; public static final double backboardSpeedMin = 0.4;
public static final double backboardUpLimit = 2200.0;
public static final double backboardDownLimit = 0.0; public static final double backboardDownLimit = 0.0;
} }
@@ -93,8 +95,8 @@ public final class Constants {
} }
public static class Limelight { public static class Limelight {
public static final String LIMELIGHT_NAME_Shooter = "limelight-shooter"; public static final String LIMELIGHT_NAME_Shooter = "limelight-left";
public static final String LIMELIGHT_NAME_Intaker = "limelight-intaker"; public static final String LIMELIGHT_NAME_Intaker = "limelight-front";
public static final Boolean UsingMetaTag2 = true; public static final Boolean UsingMetaTag2 = true;
public static final int locatePipelineIndex = 0; public static final int locatePipelineIndex = 0;
} }
@@ -112,24 +114,20 @@ public final class Constants {
public static class Intaker { 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。 // 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 leftIntakeRollerID = 20;
public static final int rightIntakeRollerID = 46; public static final int rightIntakeRollerID = 47;
public static final int leftIntakeRotaterID = 48; 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 intakeRollerIntakeVoltage = -6.0;
public static final double intakeRollerOuttakeSpeedRps = -30.0; 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 intakeRotaterShootAssistPeriodSeconds = 0.4;
public static final double intakeRotaterShootAssistUpDutyCycle = 0.5; 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() public static final Slot0Configs intakeRollerSlot0Configs = new Slot0Configs()
.withKP(0.00).withKI(0.00).withKD(0.00) .withKP(0.00).withKI(0.00).withKD(0.00)
.withKV(0.00).withKA(0.00).withKS(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; 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。 // 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 class Conveyor {
public static final int mainConveyorID = 50; public static final int mainConveyorID = 42;
public static final double feedSpeedRps = 30.0; public static final double feedVoltage = 2.5;
public static final double reverseSpeedRps = -30.0; public static final double reverseVoltage = -2.0;
public static final Slot0Configs mainConveyorSlot0Configs = new Slot0Configs() public static final Slot0Configs mainConveyorSlot0Configs = new Slot0Configs()
.withKP(0.00).withKI(0.00).withKD(0.00) .withKP(0.00).withKI(0.00).withKD(0.00)
@@ -156,12 +153,12 @@ public final class Constants {
public static class Superstructure { 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。 // 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 shooterFeedVoltage = Shooter.shooterConveyorFeedVoltage;
public static final double shooterReverseSpeedRps = -Shooter.conveyorSpeed * 0.6; public static final double shooterReverseVoltage = Shooter.shooterConveyorReverseVoltage;
public static final double shootTimeoutSeconds = 1.0; public static final double shootTimeoutSeconds = 1.0;
public static final double aimToleranceDegrees = 1.5; public static final double aimToleranceDegrees = 1.5;
public static final double stationarySpeedToleranceMetersPerSecond = 0.5; 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; public static final double passBallBackboardPosition = 175.0;
// 射击时背板的目标位置（外接编码器计数）。 // 射击时背板的目标位置（外接编码器计数）。
src/main/java/frc/robot/RobotContainer.java
+20 -3
View File
@@ -82,6 +82,12 @@ public class RobotContainer {
new ConfigTalonFXMotorTuner(shooterSubsystem.leftConveyor, "conveyor", Constants.Shooter.conveyorSlot0Configs); new ConfigTalonFXMotorTuner(shooterSubsystem.leftConveyor, "conveyor", Constants.Shooter.conveyorSlot0Configs);
private ConfigTalonFXSMotorTuner configBackboardTuner = private ConfigTalonFXSMotorTuner configBackboardTuner =
new ConfigTalonFXSMotorTuner(shooterSubsystem.backboardMotor, "backboard", Constants.Shooter.backboardSlot0Configs); new ConfigTalonFXSMotorTuner(shooterSubsystem.backboardMotor, "backboard", Constants.Shooter.backboardSlot0Configs);
private ConfigTalonFXMotorTuner configMainConveyorTuner =
new ConfigTalonFXMotorTuner(conveyorSubsystem.mainConveyor, "mainconveyor", Constants.Conveyor.mainConveyorSlot0Configs);
private ConfigTalonFXMotorTuner configIntakerRollerTuner =
new ConfigTalonFXMotorTuner(intakeRollerSubsystem.leftIntakeRoller, "intakerroller", Constants.Intaker.intakeRollerSlot0Configs);
private ConfigTalonFXMotorTuner configIntakerRotaterTuner =
new ConfigTalonFXMotorTuner(intakeRotaterSubsystem.leftIntakeRotater, "intakerrotater", Constants.Intaker.intakeRotaterSlot0Configs);
private final SendableChooser<Command> autoChooser; private final SendableChooser<Command> autoChooser;
private final Trigger enableTrigger = new Trigger(DriverStation::isEnabled); private final Trigger enableTrigger = new Trigger(DriverStation::isEnabled);
@@ -175,8 +181,8 @@ public class RobotContainer {
controllerupper.b().and(teleopOnly) controllerupper.b().and(teleopOnly)
.onTrue(operatorControls.requestEjectCommand()) .onTrue(operatorControls.requestEjectCommand())
.onFalse(operatorControls.requestIdleCommand()); .onFalse(operatorControls.requestIdleCommand());
controllerupper.povLeft().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelSpeedOffset(-1))); controllerupper.povLeft().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVoltageOffset(-0.1)));
controllerupper.povRight().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelSpeedOffset(1))); controllerupper.povRight().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVoltageOffset(0.1)));
controllerupper.povUp().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(100))); controllerupper.povUp().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(100)));
controllerupper.povDown().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(-100))); controllerupper.povDown().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(-100)));
controllerupper.back().onTrue(Commands.runOnce(() -> operatorControls.resetOffsets())); controllerupper.back().onTrue(Commands.runOnce(() -> operatorControls.resetOffsets()));
@@ -196,7 +202,11 @@ public class RobotContainer {
configFlywheelTuner.periodic(() -> shooterSubsystem.applyLeftConfigurationToRight()); configFlywheelTuner.periodic(() -> shooterSubsystem.applyLeftConfigurationToRight());
configConveyorTuner.periodic(null); configConveyorTuner.periodic(null);
configBackboardTuner.periodic(); configBackboardTuner.periodic();
shooterSubsystem.setRightFollowLeft(); shooterSubsystem.debugBackboardTargetPeriodic();
configMainConveyorTuner.periodic(null);
configIntakerRollerTuner.periodic(null);
configIntakerRotaterTuner.periodic(null);
shooterSubsystem.setRightConveyorFollowLeft();
} }
public void dashboardPeriodic() { public void dashboardPeriodic() {
@@ -221,5 +231,12 @@ public class RobotContainer {
.onTrue(operatorControls.requestManualCommand()) .onTrue(operatorControls.requestManualCommand())
.whileTrue(operatorControls.manualLowerIntakeRotaterCommand(intakeRotaterSubsystem)) .whileTrue(operatorControls.manualLowerIntakeRotaterCommand(intakeRotaterSubsystem))
.onFalse(operatorControls.requestIdleCommand()); .onFalse(operatorControls.requestIdleCommand());
controllerupper.y().and(teleopOnly)
.onTrue(Commands.sequence(
operatorControls.requestManualCommand(),
operatorControls.lowerIntakeRotaterForMatchCommand(intakeRotaterSubsystem),
operatorControls.requestIdleCommand()
));
} }
} }
src/main/java/frc/robot/controls/Autocommand.java
+5 -1
View File
@@ -28,7 +28,7 @@ public class Autocommand extends SequentialCommandGroup {
NamedCommands.registerCommand("start_intake_timelimit", timedIntake(superstructure)); NamedCommands.registerCommand("start_intake_timelimit", timedIntake(superstructure));
NamedCommands.registerCommand("stop_intake", idle(superstructure)); NamedCommands.registerCommand("stop_intake", idle(superstructure));
NamedCommands.registerCommand("intaker_down", lowerIntaker(intakeRotater)); NamedCommands.registerCommand("intaker_down", lowerIntaker(intakeRotater));
NamedCommands.registerCommand("intaker_up", idle(superstructure)); NamedCommands.registerCommand("intaker_up", raiseIntaker(intakeRotater));
NamedCommands.registerCommand("shoot_hub", shootHub(superstructure)); NamedCommands.registerCommand("shoot_hub", shootHub(superstructure));
NamedCommands.registerCommand("Shake", shake(driveControls)); NamedCommands.registerCommand("Shake", shake(driveControls));
NamedCommands.registerCommand("AutoAim", autoAim(driveControls)); NamedCommands.registerCommand("AutoAim", autoAim(driveControls));
@@ -54,6 +54,10 @@ public class Autocommand extends SequentialCommandGroup {
return intakeRotater.lowerForMatchCommand(); return intakeRotater.lowerForMatchCommand();
} }
public static Command raiseIntaker(IntakeRotaterSubsystem intakeRotater) {
return intakeRotater.raiseForMatchCommand();
}
// 自动射击和手动射击使用同一套 gated shooting 流程。 // 自动射击和手动射击使用同一套 gated shooting 流程。
public static Command shootHub(Superstructure superstructure) { public static Command shootHub(Superstructure superstructure) {
return Commands.sequence( return Commands.sequence(
src/main/java/frc/robot/controls/OperatorControls.java
+6 -2
View File
@@ -50,8 +50,8 @@ public class OperatorControls {
return superstructure.requestManualCommand(); return superstructure.requestManualCommand();
} }
public void adjustFlywheelSpeedOffset(double offset) { public void adjustFlywheelVoltageOffset(double offset) {
superstructure.adjustFlywheelSpeedOffset(offset); superstructure.adjustFlywheelVoltageOffset(offset);
} }
public void adjustBackboardRateOffset(double offset) { public void adjustBackboardRateOffset(double offset) {
@@ -74,6 +74,10 @@ public class OperatorControls {
return Commands.runEnd(intakeRotater::manualLower, intakeRotater::stop, intakeRotater); return Commands.runEnd(intakeRotater::manualLower, intakeRotater::stop, intakeRotater);
} }
public Command lowerIntakeRotaterForMatchCommand(IntakeRotaterSubsystem intakeRotater) {
return intakeRotater.lowerForMatchCommand();
}
// PathPlanner 自动射击辅助：先预备到所有射击条件满足，再请求喂球， // PathPlanner 自动射击辅助：先预备到所有射击条件满足，再请求喂球，
// 最后回到空闲状态。真正的“是否能射”判断仍然放在 Superstructure。 // 最后回到空闲状态。真正的“是否能射”判断仍然放在 Superstructure。
public Command autoShootToHubCommand() { public Command autoShootToHubCommand() {
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+2 -2
View File
@@ -81,8 +81,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
LimelightHelpers.SetIMUMode(Constants.Limelight.LIMELIGHT_NAME_Intaker, 0); LimelightHelpers.SetIMUMode(Constants.Limelight.LIMELIGHT_NAME_Intaker, 0);
positioningNetworkTable = NetworkTableInstance.getDefault().getTable("Positioning"); positioningNetworkTable = NetworkTableInstance.getDefault().getTable("Positioning");
driveNetworkTable = NetworkTableInstance.getDefault().getTable("Drive"); driveNetworkTable = NetworkTableInstance.getDefault().getTable("Drive");
ll_shooter_NT = NetworkTableInstance.getDefault().getTable("Positioning/limelight-shooter"); ll_shooter_NT = NetworkTableInstance.getDefault().getTable("Positioning/limelight-left");
ll_intaker_NT = NetworkTableInstance.getDefault().getTable("Positioning/limelight-intaker"); ll_intaker_NT = NetworkTableInstance.getDefault().getTable("Positioning/limelight-front");
configueAutoBuilder(); configueAutoBuilder();
} }
src/main/java/frc/robot/subsystems/ConveyorSubsystem.java
+11 -10
View File
@@ -1,11 +1,12 @@
package frc.robot.subsystems; package frc.robot.subsystems;
import com.ctre.phoenix6.controls.VelocityVoltage; import com.ctre.phoenix6.controls.VoltageOut;
import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.hardware.TalonFX;
import edu.wpi.first.networktables.NetworkTable; import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.math.MathUtil;
import frc.robot.Constants; import frc.robot.Constants;
/** /**
@@ -13,31 +14,31 @@ import frc.robot.Constants;
*/ */
public class ConveyorSubsystem extends SubsystemBase { public class ConveyorSubsystem extends SubsystemBase {
public final TalonFX mainConveyor; public final TalonFX mainConveyor;
private final VelocityVoltage velocityRequest = new VelocityVoltage(0); private final VoltageOut voltageRequest = new VoltageOut(0);
private final NetworkTable table = NetworkTableInstance.getDefault().getTable("Conveyor"); private final NetworkTable table = NetworkTableInstance.getDefault().getTable("Conveyor");
private double targetSpeedRps = 0.0; private double targetOutputVolts = 0.0;
public ConveyorSubsystem() { public ConveyorSubsystem() {
mainConveyor = new TalonFX(Constants.Conveyor.mainConveyorID); mainConveyor = new TalonFX(Constants.Conveyor.mainConveyorID);
mainConveyor.getConfigurator().apply(Constants.Conveyor.mainConveyorSlot0Configs); mainConveyor.getConfigurator().apply(Constants.Conveyor.mainConveyorSlot0Configs);
} }
public void feedToShooter() { public void feedToShooter() {
setSpeedByRPS(Constants.Conveyor.feedSpeedRps); setVoltage(Constants.Conveyor.feedVoltage);
} }
public void reverse() { public void reverse() {
setSpeedByRPS(Constants.Conveyor.reverseSpeedRps); setVoltage(Constants.Conveyor.reverseVoltage);
} }
public void stop() { public void stop() {
setSpeedByRPS(0.0); setVoltage(0.0);
} }
public void setSpeedByRPS(double targetSpeedRps) { public void setVoltage(double outputVolts) {
this.targetSpeedRps = targetSpeedRps; targetOutputVolts = MathUtil.clamp(outputVolts, -12.0, 12.0);
mainConveyor.setControl(velocityRequest.withVelocity(targetSpeedRps)); mainConveyor.setControl(voltageRequest.withOutput(targetOutputVolts));
} }
@Override @Override
public void periodic() { public void periodic() {
table.getEntry("velocity").setDouble(mainConveyor.getVelocity().getValueAsDouble()); table.getEntry("velocity").setDouble(mainConveyor.getVelocity().getValueAsDouble());
table.getEntry("targetSpeedRps").setDouble(targetSpeedRps); table.getEntry("targetOutputVolts").setDouble(targetOutputVolts);
} }
} }
src/main/java/frc/robot/subsystems/IntakeRollerSubsystem.java
+12 -11
View File
@@ -1,10 +1,11 @@
package frc.robot.subsystems; package frc.robot.subsystems;
import com.ctre.phoenix6.controls.Follower; import com.ctre.phoenix6.controls.Follower;
import com.ctre.phoenix6.controls.VelocityVoltage; import com.ctre.phoenix6.controls.VoltageOut;
import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.MotorAlignmentValue; import com.ctre.phoenix6.signals.MotorAlignmentValue;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.networktables.NetworkTable; import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -17,13 +18,13 @@ import frc.robot.Constants;
* 本类只负责成对 TalonFX 输出和 follower 关系。 * 本类只负责成对 TalonFX 输出和 follower 关系。
*/ */
public class IntakeRollerSubsystem extends SubsystemBase { public class IntakeRollerSubsystem extends SubsystemBase {
private final TalonFX leftIntakeRoller; public final TalonFX leftIntakeRoller;
private final TalonFX rightIntakeRoller; private final TalonFX rightIntakeRoller;
private final VelocityVoltage velocityRequest = new VelocityVoltage(0); private final VoltageOut voltageRequest = new VoltageOut(0);
private final Follower rightFollower; private final Follower rightFollower;
private final NetworkTable table = NetworkTableInstance.getDefault().getTable("IntakeRoller"); private final NetworkTable table = NetworkTableInstance.getDefault().getTable("IntakeRoller");
private double targetSpeedRps = 0.0; private double targetOutputVolts = 0.0;
public IntakeRollerSubsystem() { public IntakeRollerSubsystem() {
leftIntakeRoller = new TalonFX(Constants.Intaker.leftIntakeRollerID); leftIntakeRoller = new TalonFX(Constants.Intaker.leftIntakeRollerID);
@@ -35,20 +36,20 @@ public class IntakeRollerSubsystem extends SubsystemBase {
} }
public void intake() { public void intake() {
setSpeedByRPS(Constants.Intaker.intakeRollerIntakeSpeedRps); setVoltage(Constants.Intaker.intakeRollerIntakeVoltage);
} }
public void outtake() { public void outtake() {
setSpeedByRPS(Constants.Intaker.intakeRollerOuttakeSpeedRps); setVoltage(Constants.Intaker.intakeRollerOuttakeVoltage);
} }
public void stop() { public void stop() {
setSpeedByRPS(0.0); setVoltage(0.0);
} }
public void setSpeedByRPS(double targetSpeedRps) { public void setVoltage(double outputVolts) {
this.targetSpeedRps = targetSpeedRps; targetOutputVolts = MathUtil.clamp(outputVolts, -12.0, 12.0);
leftIntakeRoller.setControl(velocityRequest.withVelocity(targetSpeedRps)); leftIntakeRoller.setControl(voltageRequest.withOutput(targetOutputVolts));
followLeft(); followLeft();
} }
@@ -67,6 +68,6 @@ public class IntakeRollerSubsystem extends SubsystemBase {
table.getEntry("leftVelocity").setDouble(leftIntakeRoller.getVelocity().getValueAsDouble()); table.getEntry("leftVelocity").setDouble(leftIntakeRoller.getVelocity().getValueAsDouble());
table.getEntry("rightVelocity").setDouble(rightIntakeRoller.getVelocity().getValueAsDouble()); table.getEntry("rightVelocity").setDouble(rightIntakeRoller.getVelocity().getValueAsDouble());
table.getEntry("velocityDifference").setDouble(getVelocityDifference()); table.getEntry("velocityDifference").setDouble(getVelocityDifference());
table.getEntry("targetSpeedRps").setDouble(targetSpeedRps); table.getEntry("targetOutputVolts").setDouble(targetOutputVolts);
} }
} }
src/main/java/frc/robot/subsystems/IntakeRotaterSubsystem.java
+45 -27
View File
@@ -1,7 +1,6 @@
package frc.robot.subsystems; package frc.robot.subsystems;
import com.ctre.phoenix6.controls.Follower; import com.ctre.phoenix6.controls.Follower;
import com.ctre.phoenix6.controls.PositionVoltage;
import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.controls.VoltageOut;
import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.MotorAlignmentValue; import com.ctre.phoenix6.signals.MotorAlignmentValue;
@@ -18,19 +17,17 @@ import frc.robot.Constants;
/** /**
* Intaker rotation control for the 2026 fuel path. * Intaker rotation control for the 2026 fuel path.
* *
* The normal match posture is lowered. During shooting, the arm alternates * The rotater uses timed voltage actions only. Position is published for
* between lowered and an upward assist position to help fuel enter the chamber. * telemetry, but it is not used for closed-loop control.
*/ */
public class IntakeRotaterSubsystem extends SubsystemBase { public class IntakeRotaterSubsystem extends SubsystemBase {
private final TalonFX leftIntakeRotater; public final TalonFX leftIntakeRotater;
private final TalonFX rightIntakeRotater; private final TalonFX rightIntakeRotater;
private final PositionVoltage positionRequest = new PositionVoltage(0);
private final VoltageOut voltageRequest = new VoltageOut(0); private final VoltageOut voltageRequest = new VoltageOut(0);
private final Follower rightFollower; private final Follower rightFollower;
private final NetworkTable table = NetworkTableInstance.getDefault().getTable("IntakeRotater"); private final NetworkTable table = NetworkTableInstance.getDefault().getTable("IntakeRotater");
private double targetPosition = Constants.Intaker.intakeRotaterLoweredPosition;
private double outputVoltage = 0.0; private double outputVoltage = 0.0;
public IntakeRotaterSubsystem() { public IntakeRotaterSubsystem() {
@@ -46,51 +43,70 @@ public class IntakeRotaterSubsystem extends SubsystemBase {
} }
public void lowerForMatch() { public void lowerForMatch() {
setPosition(Constants.Intaker.intakeRotaterLoweredPosition); setVoltage(0.05);
} }
public Command lowerForMatchCommand() { public Command lowerForMatchCommand() {
return Commands.runOnce(this::lowerForMatch, this); return Commands.sequence(
Commands.runOnce(() -> setVoltage(-1.5), this),
Commands.waitSeconds(0.7),
Commands.runOnce(() -> setVoltage(0.05), this),
Commands.waitSeconds(0.7),
Commands.runOnce(this::stop, this)
);
}
public void raiseForMatch() {
setVoltage(0.8);
}
public Command raiseForMatchCommand() {
return Commands.sequence(
Commands.runOnce(this::raiseForMatch, this),
Commands.waitSeconds(0.5),
Commands.runOnce(this::stop, this)
);
} }
public void shootAssist() { public void shootAssist() {
double period = Constants.Intaker.intakeRotaterShootAssistPeriodSeconds; double period = Constants.Intaker.intakeRotaterShootAssistPeriodSeconds;
double phase = (Timer.getFPGATimestamp() % period) / period; double phase = (Timer.getFPGATimestamp() % period) / period;
double target = phase < Constants.Intaker.intakeRotaterShootAssistUpDutyCycle double volts = phase < Constants.Intaker.intakeRotaterShootAssistUpDutyCycle
? Constants.Intaker.intakeRotaterShootAssistUpPosition ? Constants.Intaker.intakeRotaterRaiseVoltage
: Constants.Intaker.intakeRotaterLoweredPosition; : Constants.Intaker.intakeRotaterLowerVoltage;
setPosition(target); setVoltage(volts);
} }
public void manualRaise() { public void manualRaise() {
setVoltage(Constants.Intaker.intakeRotaterManualRaiseVoltage); setVoltage(Constants.Intaker.intakeRotaterRaiseVoltage);
} }
public void manualLower() { public void manualLower() {
setVoltage(Constants.Intaker.intakeRotaterManualLowerVoltage); setVoltage(Constants.Intaker.intakeRotaterLowerVoltage);
} }
public void stop() { public void stop() {
setVoltage(0.0); setVoltage(0.0);
} }
public boolean atGoal() { public boolean isRunning() {
return Math.abs(getPosition() - targetPosition) <= Constants.Intaker.positionToleranceRotations; return Math.abs(outputVoltage) > 1e-6;
} }
public double getPosition() { public double getPosition() {
return leftIntakeRotater.getPosition().getValueAsDouble(); return leftIntakeRotater.getPosition().getValueAsDouble();
} }
private void setPosition(double rotations) { public double getLeftVelocity() {
targetPosition = MathUtil.clamp( return leftIntakeRotater.getVelocity().getValueAsDouble();
rotations, }
Constants.Intaker.intakeRotaterDownLimit,
Constants.Intaker.intakeRotaterUpLimit public double getRightVelocity() {
); return rightIntakeRotater.getVelocity().getValueAsDouble();
outputVoltage = 0.0; }
leftIntakeRotater.setControl(positionRequest.withPosition(targetPosition));
followLeft(); private double getVelocityDifference() {
return Math.abs(getLeftVelocity()) - Math.abs(getRightVelocity());
} }
private void setVoltage(double volts) { private void setVoltage(double volts) {
@@ -106,8 +122,10 @@ public class IntakeRotaterSubsystem extends SubsystemBase {
@Override @Override
public void periodic() { public void periodic() {
table.getEntry("position").setDouble(getPosition()); table.getEntry("position").setDouble(getPosition());
table.getEntry("targetPosition").setDouble(targetPosition); table.getEntry("isRunning").setBoolean(isRunning());
table.getEntry("atGoal").setBoolean(atGoal());
table.getEntry("outputVoltage").setDouble(outputVoltage); table.getEntry("outputVoltage").setDouble(outputVoltage);
table.getEntry("leftVelocity").setDouble(getLeftVelocity());
table.getEntry("rightVelocity").setDouble(getRightVelocity());
table.getEntry("velocityDifference").setDouble(getVelocityDifference());
} }
} }
src/main/java/frc/robot/subsystems/LimelightSubsystem.java
+2 -2
View File
@@ -47,8 +47,8 @@ public class LimelightSubsystem extends SubsystemBase {
return LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(limelightName).pose; return LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(limelightName).pose;
} }
public double getShooterSetpointByDistance() { public double getShooterVoltageByDistance() {
// 查 Constants 里的插值射表；真车试射后往表里加实测点即可。 // 查 Constants 里的插值射表；真车试射后往表里加实测点即可。
return Constants.Shooter.flywheelRpsByDistance.get(getDistanceToTarget()); return Constants.Shooter.flywheelVoltageByDistance.get(getDistanceToTarget());
} }
} }
src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+129 -65
View File
@@ -3,7 +3,7 @@ package frc.robot.subsystems;
import com.ctre.phoenix6.configs.MotorOutputConfigs; import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.configs.Slot0Configs; import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.controls.Follower; import com.ctre.phoenix6.controls.Follower;
import com.ctre.phoenix6.controls.VelocityVoltage; import com.ctre.phoenix6.controls.VoltageOut;
import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.hardware.TalonFXS; import com.ctre.phoenix6.hardware.TalonFXS;
import com.ctre.phoenix6.signals.InvertedValue; import com.ctre.phoenix6.signals.InvertedValue;
@@ -15,6 +15,7 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
import edu.wpi.first.networktables.NetworkTable; import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance; import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -23,8 +24,8 @@ import frc.robot.Constants;
/** /**
* Shooter 总成的硬件封装。 * Shooter 总成的硬件封装。
* *
* 飞轮和 shooter 内部 conveyor 都使用电压开环输出， * 飞轮和 shooter 内部 conveyor 使用 VoltageOut 开环电压输出；
* 右侧电机通过反向 follower 跟随左侧电机。 * shooter 内部 conveyor 仍由右侧电机反向 follower 跟随左侧电机。
* 背板控制沿用旧代码中的电机、编码器和 PID 调参流程。 * 背板控制沿用旧代码中的电机、编码器和 PID 调参流程。
* 何时 spin up、何时喂球由 Superstructure 决定，本类不做比赛动作判断。 * 何时 spin up、何时喂球由 Superstructure 决定，本类不做比赛动作判断。
*/ */
@@ -38,17 +39,24 @@ public class ShooterSubsystem extends SubsystemBase {
public final Encoder backboardEncoder; public final Encoder backboardEncoder;
public final ProfiledPIDController backboardPID; public final ProfiledPIDController backboardPID;
private final VelocityVoltage flywheelVelocityRequest = new VelocityVoltage(0); private final VoltageOut leftFlywheelVoltageRequest = new VoltageOut(0);
private final VelocityVoltage conveyorVelocityRequest = new VelocityVoltage(0); private final VoltageOut rightFlywheelVoltageRequest = new VoltageOut(0);
private final VelocityVoltage backboardVelocityRequest = new VelocityVoltage(0); private final VoltageOut conveyorVoltageRequest = new VoltageOut(0);
private final VoltageOut backboardVoltageRequest = new VoltageOut(0);
private final Follower flywheelFollower;
private final Follower conveyorFollower; private final Follower conveyorFollower;
private final NetworkTable shooterNetworkTable; private final NetworkTable shooterNetworkTable;
private final NetworkTable backboardTuningTable;
private double targetFlywheelRps = 0.0; private double flywheelOutputVolts = 0.0;
private double shooterConveyorTargetRps = 0.0; private double flywheelVoltageStartTimestamp = 0.0;
private double shooterConveyorOutputVolts = 0.0;
private double backboardOutputVolts = 0.0;
private double backboardRawPidOutputVolts = 0.0;
private double backboardClampedPidOutputVolts = 0.0;
private boolean backboardOutputSaturated = false;
private boolean backboardMinimumOutputActive = false;
public ShooterSubsystem() { public ShooterSubsystem() {
leftFlywheel = new TalonFX(Constants.Shooter.leftFlywheelID); leftFlywheel = new TalonFX(Constants.Shooter.leftFlywheelID);
@@ -66,9 +74,8 @@ public class ShooterSubsystem extends SubsystemBase {
leftFlywheel.getConfigurator().apply(motorOutputConfigs); leftFlywheel.getConfigurator().apply(motorOutputConfigs);
leftConveyor.getConfigurator().apply(motorOutputConfigs); leftConveyor.getConfigurator().apply(motorOutputConfigs);
flywheelFollower = new Follower(leftFlywheel.getDeviceID(), MotorAlignmentValue.Opposed).withUpdateFreqHz(50);
conveyorFollower = new Follower(leftConveyor.getDeviceID(), MotorAlignmentValue.Opposed).withUpdateFreqHz(50); conveyorFollower = new Follower(leftConveyor.getDeviceID(), MotorAlignmentValue.Opposed).withUpdateFreqHz(50);
setRightFollowLeft(); setRightConveyorFollowLeft();
backboardMotor = new TalonFXS(Constants.Shooter.backboardMotorID); backboardMotor = new TalonFXS(Constants.Shooter.backboardMotorID);
backboardMotor.getConfigurator().apply(Constants.Shooter.backboardSlot0Configs); backboardMotor.getConfigurator().apply(Constants.Shooter.backboardSlot0Configs);
@@ -87,15 +94,17 @@ public class ShooterSubsystem extends SubsystemBase {
backboardPID.setTolerance(10.0); backboardPID.setTolerance(10.0);
shooterNetworkTable = NetworkTableInstance.getDefault().getTable("Shooter"); shooterNetworkTable = NetworkTableInstance.getDefault().getTable("Shooter");
backboardTuningTable = NetworkTableInstance.getDefault().getTable("Tuning/backboard");
backboardTuningTable.getEntry("backboardPositionEnable").setDefaultBoolean(false);
backboardTuningTable.getEntry("backboardTargetPosition").setDefaultDouble(0.0);
} }
/* ====================== */ /* ====================== */
/* 飞轮 */ /* 飞轮 */
/* ====================== */ /* ====================== */
public void setRightFollowLeft() { public void setRightConveyorFollowLeft() {
// 成对机构机械方向相反，因此右侧电机以反向 follower 跟随左侧电机。 // 成对机构机械方向相反，因此右侧电机以反向 follower 跟随左侧电机。
rightFlywheel.setControl(flywheelFollower);
rightConveyor.setControl(conveyorFollower); rightConveyor.setControl(conveyorFollower);
} }
@@ -105,37 +114,32 @@ public class ShooterSubsystem extends SubsystemBase {
rightFlywheel.getConfigurator().apply(configs); rightFlywheel.getConfigurator().apply(configs);
} }
public void setFlywheelVelocity(double targetRps) { public void setFlywheelVoltage(double outputVolts) {
// 右飞轮是 follower，因此对外只暴露一个飞轮目标速度。 double clampedOutputVolts = MathUtil.clamp(outputVolts, -12.0, 12.0);
// 左飞轮使用 VelocityVoltage 速度闭环，右飞轮反向跟随左飞轮。 if (Math.abs(clampedOutputVolts - flywheelOutputVolts) > 1e-6) {
setFlywheelSpeedByRPS(targetRps); flywheelVoltageStartTimestamp = Timer.getFPGATimestamp();
}
flywheelOutputVolts = clampedOutputVolts;
leftFlywheel.setControl(leftFlywheelVoltageRequest.withOutput(flywheelOutputVolts));
rightFlywheel.setControl(rightFlywheelVoltageRequest.withOutput(-flywheelOutputVolts));
} }
public void setFlywheelSpeedByRPS(double targetRps) { public void setFlywheelVoltageByDistance(double distance) {
targetFlywheelRps = Math.abs(targetRps); double targetVolts = Constants.Shooter.flywheelVoltageByDistance.get(distance);
leftFlywheel.setControl(flywheelVelocityRequest.withVelocity(targetFlywheelRps)); setFlywheelVoltage(targetVolts);
setRightFollowLeft();
}
public void setFlywheelVelocityByDistance(double distance) {
// 查 Constants 里的射表，两端自动取边界值。
double targetRps = Constants.Shooter.flywheelRpsByDistance.get(distance);
setFlywheelVelocity(targetRps);
} }
public void stopFlywheel() { public void stopFlywheel() {
setFlywheelSpeedByRPS(0.0); setFlywheelVoltage(0.0);
} }
public boolean atSpeed() { public boolean atVoltage() {
// 虽然飞轮控制是电压开环，但仍读取 TalonFX 速度作为喂球门控。 if (Math.abs(flywheelOutputVolts) < Constants.Shooter.flywheelReadyVoltageThreshold) {
if (targetFlywheelRps <= 1.0) {
return false; return false;
} }
return Math.abs(Math.abs(getLeftFlywheelVelocity()) - targetFlywheelRps) <= Constants.Shooter.flywheelSpeedToleranceRps return Timer.getFPGATimestamp() - flywheelVoltageStartTimestamp
&& Math.abs(Math.abs(getRightFlywheelVelocity()) - targetFlywheelRps) <= Constants.Shooter.flywheelSpeedToleranceRps; >= Constants.Shooter.flywheelReadyDelaySeconds;
} }
public double getLeftFlywheelVelocity() { public double getLeftFlywheelVelocity() {
return leftFlywheel.getVelocity().getValueAsDouble(); return leftFlywheel.getVelocity().getValueAsDouble();
} }
@@ -152,22 +156,22 @@ public class ShooterSubsystem extends SubsystemBase {
return Math.abs(getLeftFlywheelVelocity()) - Math.abs(getRightFlywheelVelocity()); return Math.abs(getLeftFlywheelVelocity()) - Math.abs(getRightFlywheelVelocity());
} }
public double getTargetFlywheelRps() { public double getTargetFlywheelVoltage() {
return targetFlywheelRps; return flywheelOutputVolts;
} }
/* ====================== */ /* ====================== */
/* shooter conveyor */ /* shooter conveyor */
/* ====================== */ /* ====================== */
public void runShooterConveyorByRPS(double targetRps) { public void runShooterConveyorVoltage(double outputVolts) {
shooterConveyorTargetRps = targetRps; shooterConveyorOutputVolts = MathUtil.clamp(outputVolts, -12.0, 12.0);
leftConveyor.setControl(conveyorVelocityRequest.withVelocity(targetRps)); leftConveyor.setControl(conveyorVoltageRequest.withOutput(shooterConveyorOutputVolts));
setRightFollowLeft(); setRightConveyorFollowLeft();
} }
public void stopShooterConveyor() { public void stopShooterConveyor() {
runShooterConveyorByRPS(0.0); runShooterConveyorVoltage(0.0);
} }
public double getConveyorStatorCurrent() { public double getConveyorStatorCurrent() {
@@ -178,13 +182,13 @@ public class ShooterSubsystem extends SubsystemBase {
/* 背板 */ /* 背板 */
/* ====================== */ /* ====================== */
public void setBackboardSpeedByRPS(double speed) { public void setBackboardVoltage(double outputVolts) {
if (speed > 0 && speed < 10) { backboardOutputVolts = MathUtil.clamp(
speed = 10; outputVolts,
} else if (speed < 0 && speed > -10) { -Constants.Shooter.backboardSpeedMax,
speed = -10; Constants.Shooter.backboardSpeedMax
} );
backboardMotor.setControl(backboardVelocityRequest.withVelocity(speed)); backboardMotor.setControl(backboardVoltageRequest.withOutput(backboardOutputVolts));
} }
public void setBackboardPosition(double targetPosition) { public void setBackboardPosition(double targetPosition) {
@@ -199,29 +203,47 @@ public class ShooterSubsystem extends SubsystemBase {
public void outputBackboard() { public void outputBackboard() {
// 背板仍使用旧外部编码器和 ProfiledPID；Superstructure 只选择目标位置。 // 背板仍使用旧外部编码器和 ProfiledPID；Superstructure 只选择目标位置。
double pidOutput = backboardPID.calculate(getBackboardPosition()); double rawPidOutput = backboardPID.calculate(getBackboardPosition());
pidOutput = MathUtil.clamp(pidOutput, -Constants.Shooter.backboardSpeedMax, Constants.Shooter.backboardSpeedMax); double pidOutput = MathUtil.clamp(
rawPidOutput,
-Constants.Shooter.backboardSpeedMax,
Constants.Shooter.backboardSpeedMax
);
backboardRawPidOutputVolts = rawPidOutput;
backboardClampedPidOutputVolts = pidOutput;
backboardOutputSaturated = Math.abs(rawPidOutput - pidOutput) > 1e-9;
if (Math.abs(pidOutput) < 0.8) { if (pidOutput != 0.0 && Math.abs(pidOutput) < Constants.Shooter.backboardSpeedMin) {
pidOutput = 0.0; pidOutput = Math.copySign(Constants.Shooter.backboardSpeedMin, pidOutput);
backboardMinimumOutputActive = true;
} else {
backboardMinimumOutputActive = false;
} }
shooterNetworkTable.getEntry("backboardPIDOutput").setDouble(pidOutput); shooterNetworkTable.getEntry("backboardPIDOutput").setDouble(pidOutput);
setBackboardSpeedByRPS(pidOutput); setBackboardVoltage(pidOutput);
} }
public void holdBackboardAt(double targetPosition) { public void holdBackboardAt(double targetPosition) {
// 上层只给目标位置；到位后停止输出，未到位时继续闭环。 // 上层只给目标位置；到位后停止输出，未到位时继续闭环。
setBackboardPosition(targetPosition); setBackboardPosition(targetPosition);
if (isBackboardAtTarget()) { if (isBackboardAtTarget()) {
backboardMotor.set(0.0); backboardRawPidOutputVolts = 0.0;
backboardClampedPidOutputVolts = 0.0;
backboardOutputSaturated = false;
backboardMinimumOutputActive = false;
setBackboardVoltage(0.0);
} else { } else {
outputBackboard(); outputBackboard();
} }
} }
public void stopBackboard() { public void stopBackboard() {
backboardMotor.set(0.0); backboardRawPidOutputVolts = 0.0;
backboardClampedPidOutputVolts = 0.0;
backboardOutputSaturated = false;
backboardMinimumOutputActive = false;
setBackboardVoltage(0.0);
} }
public double getBackboardPosition() { public double getBackboardPosition() {
@@ -259,20 +281,62 @@ public class ShooterSubsystem extends SubsystemBase {
stopBackboard(); stopBackboard();
} }
public void debugBackboardTargetPeriodic() {
boolean positionEnable = backboardTuningTable.getEntry("backboardPositionEnable").getBoolean(false);
double requestedTarget = backboardTuningTable.getEntry("backboardTargetPosition").getDouble(0.0);
double clampedTarget = MathUtil.clamp(
requestedTarget,
Constants.Shooter.backboardDownLimit,
Constants.Shooter.backboardUpLimit
);
backboardTuningTable.getEntry("backboardPositionEnableActive").setBoolean(positionEnable);
backboardTuningTable.getEntry("backboardCommandedTargetPosition").setDouble(requestedTarget);
backboardTuningTable.getEntry("backboardClampedTargetPosition").setDouble(clampedTarget);
if (positionEnable) {
holdBackboardAt(clampedTarget);
}
}
@Override @Override
public void periodic() { public void periodic() {
backboardPID.calculate(getBackboardPosition()); backboardPID.calculate(getBackboardPosition());
shooterNetworkTable.getEntry("flywheelSpeed").setDouble(getAverageFlywheelVelocity()); double backboardPosition = getBackboardPosition();
shooterNetworkTable.getEntry("leftFlywheelSpeed").setDouble(getLeftFlywheelVelocity()); double backboardGoalPosition = backboardPID.getGoal().position;
shooterNetworkTable.getEntry("rightFlywheelSpeed").setDouble(getRightFlywheelVelocity()); double backboardSetpointPosition = backboardPID.getSetpoint().position;
shooterNetworkTable.getEntry("flywheelSpeedDifference").setDouble(getFlywheelVelocityDifference()); shooterNetworkTable.getEntry("flywheelVelocity").setDouble(getAverageFlywheelVelocity());
shooterNetworkTable.getEntry("flywheelTargetSpeed").setDouble(targetFlywheelRps); shooterNetworkTable.getEntry("leftFlywheelVelocity").setDouble(getLeftFlywheelVelocity());
shooterNetworkTable.getEntry("flywheelAtSpeed").setBoolean(atSpeed()); shooterNetworkTable.getEntry("rightFlywheelVelocity").setDouble(getRightFlywheelVelocity());
shooterNetworkTable.getEntry("shooterConveyorTargetRps").setDouble(shooterConveyorTargetRps); shooterNetworkTable.getEntry("flywheelVelocityDifference").setDouble(getFlywheelVelocityDifference());
shooterNetworkTable.getEntry("conveyorSpeed").setDouble(leftConveyor.getVelocity().getValueAsDouble()); shooterNetworkTable.getEntry("flywheelTargetVoltage").setDouble(getTargetFlywheelVoltage());
shooterNetworkTable.getEntry("backboardCurrentRate").setDouble(getBackboardPosition()); shooterNetworkTable.getEntry("flywheelOutputVolts").setDouble(flywheelOutputVolts);
shooterNetworkTable.getEntry("backboardTargetRate").setDouble(backboardPID.getSetpoint().position); shooterNetworkTable.getEntry("flywheelAtVoltage").setBoolean(atVoltage());
shooterNetworkTable.getEntry("shooterConveyorOutputVolts").setDouble(shooterConveyorOutputVolts);
shooterNetworkTable.getEntry("conveyorVelocity").setDouble(leftConveyor.getVelocity().getValueAsDouble());
shooterNetworkTable.getEntry("backboardCurrentRate").setDouble(backboardPosition);
shooterNetworkTable.getEntry("backboardTargetRate").setDouble(backboardSetpointPosition);
shooterNetworkTable.getEntry("backboardOutputVolts").setDouble(backboardOutputVolts);
shooterNetworkTable.getEntry("isBackboardAtTarget").setBoolean(isBackboardAtTarget()); shooterNetworkTable.getEntry("isBackboardAtTarget").setBoolean(isBackboardAtTarget());
shooterNetworkTable.getEntry("backboardGoalPosition").setDouble(backboardGoalPosition);
shooterNetworkTable.getEntry("backboardSetpointPosition").setDouble(backboardSetpointPosition);
shooterNetworkTable.getEntry("backboardSetpointVelocity").setDouble(backboardPID.getSetpoint().velocity);
shooterNetworkTable.getEntry("backboardGoalError").setDouble(backboardGoalPosition - backboardPosition);
shooterNetworkTable.getEntry("backboardSetpointError").setDouble(backboardSetpointPosition - backboardPosition);
shooterNetworkTable.getEntry("backboardRawPIDOutput").setDouble(backboardRawPidOutputVolts);
shooterNetworkTable.getEntry("backboardClampedPIDOutput").setDouble(backboardClampedPidOutputVolts);
shooterNetworkTable.getEntry("backboardOutputSaturated").setBoolean(backboardOutputSaturated);
shooterNetworkTable.getEntry("backboardMinimumOutputActive").setBoolean(backboardMinimumOutputActive);
shooterNetworkTable.getEntry("backboardMaxOutputVolts").setDouble(Constants.Shooter.backboardSpeedMax);
shooterNetworkTable.getEntry("backboardMinOutputVolts").setDouble(Constants.Shooter.backboardSpeedMin);
shooterNetworkTable.getEntry("backboardPositionTolerance").setDouble(10.0);
shooterNetworkTable.getEntry("backboardShootPosition").setDouble(Constants.Superstructure.backboardShootPosition);
shooterNetworkTable.getEntry("backboardPassPosition").setDouble(Constants.Superstructure.passBallBackboardPosition);
shooterNetworkTable.getEntry("backboardMotorPosition").setDouble(backboardMotor.getPosition().getValueAsDouble());
shooterNetworkTable.getEntry("backboardMotorVelocity").setDouble(backboardMotor.getVelocity().getValueAsDouble());
shooterNetworkTable.getEntry("backboardMotorVoltage").setDouble(backboardMotor.getMotorVoltage().getValueAsDouble());
shooterNetworkTable.getEntry("backboardMotorStatorCurrent").setDouble(backboardMotor.getStatorCurrent().getValueAsDouble());
shooterNetworkTable.getEntry("statorCurrent").setDouble(getConveyorStatorCurrent()); shooterNetworkTable.getEntry("statorCurrent").setDouble(getConveyorStatorCurrent());
} }
} }
src/main/java/frc/robot/subsystems/Superstructure.java
+16 -15
View File
@@ -52,7 +52,7 @@ public class Superstructure extends SubsystemBase {
private WantedState wantedState = WantedState.IDLE; private WantedState wantedState = WantedState.IDLE;
private SystemState systemState = SystemState.STOWED; private SystemState systemState = SystemState.STOWED;
private double stateStartTimestamp = Timer.getFPGATimestamp(); private double stateStartTimestamp = Timer.getFPGATimestamp();
private double flywheelSpeedOffsetRps = 0.0; private double flywheelVoltageOffset = 0.0;
private double backboardPositionOffset = 0.0; private double backboardPositionOffset = 0.0;
private boolean shotCompletedThisRequest = false; private boolean shotCompletedThisRequest = false;
@@ -164,7 +164,7 @@ public class Superstructure extends SubsystemBase {
public boolean canShoot() { public boolean canShoot() {
boolean stationaryGate = !Constants.Superstructure.stationaryGateEnabled || isDriveStationary(); boolean stationaryGate = !Constants.Superstructure.stationaryGateEnabled || isDriveStationary();
return shooter.atSpeed() return shooter.atVoltage()
&& drive.isAimed() && drive.isAimed()
&& stationaryGate; && stationaryGate;
} }
@@ -179,8 +179,8 @@ public class Superstructure extends SubsystemBase {
/* 现场微调 offset */ /* 现场微调 offset */
/* ====================== */ /* ====================== */
public void adjustFlywheelSpeedOffset(double offsetRps) { public void adjustFlywheelVoltageOffset(double offsetVolts) {
flywheelSpeedOffsetRps += offsetRps; flywheelVoltageOffset += offsetVolts;
} }
public void adjustBackboardPositionOffset(double offset) { public void adjustBackboardPositionOffset(double offset) {
@@ -188,7 +188,7 @@ public class Superstructure extends SubsystemBase {
} }
public void resetOffsets() { public void resetOffsets() {
flywheelSpeedOffsetRps = 0.0; flywheelVoltageOffset = 0.0;
backboardPositionOffset = 0.0; backboardPositionOffset = 0.0;
} }
@@ -227,6 +227,7 @@ public class Superstructure extends SubsystemBase {
// 安全默认状态：球路不动，intaker 不主动动作，背板保持受控。 // 安全默认状态：球路不动，intaker 不主动动作，背板保持受控。
conveyor.stop(); conveyor.stop();
intakeRoller.stop(); intakeRoller.stop();
intakeRotater.stop();
shooter.stopFlywheel(); shooter.stopFlywheel();
shooter.stopShooterConveyor(); shooter.stopShooterConveyor();
shooter.holdBackboardAt(0.0); shooter.holdBackboardAt(0.0);
@@ -253,18 +254,18 @@ public class Superstructure extends SubsystemBase {
} }
private void handleShootHub() { private void handleShootHub() {
double targetRps = limelight.getShooterSetpointByDistance() + flywheelSpeedOffsetRps; double targetVolts = limelight.getShooterVoltageByDistance() + flywheelVoltageOffset;
double backboardPosition = Constants.Superstructure.backboardShootPosition + backboardPositionOffset; double backboardPosition = Constants.Superstructure.backboardShootPosition + backboardPositionOffset;
handlePreparedFeed(targetRps, backboardPosition); handlePreparedFeed(targetVolts, backboardPosition);
} }
private void handlePassBall() { private void handlePassBall() {
double targetRps = Constants.Superstructure.passBallFlywheelRps + flywheelSpeedOffsetRps; double targetVolts = Constants.Superstructure.passBallFlywheelVoltage + flywheelVoltageOffset;
double backboardPosition = Constants.Superstructure.passBallBackboardPosition + backboardPositionOffset; double backboardPosition = Constants.Superstructure.passBallBackboardPosition + backboardPositionOffset;
handlePreparedFeed(targetRps, backboardPosition); handlePreparedFeed(targetVolts, backboardPosition);
} }
private void handlePreparedFeed(double targetRps, double backboardPosition) { private void handlePreparedFeed(double targetVolts, double backboardPosition) {
if (systemState != SystemState.PREP_SHOOT if (systemState != SystemState.PREP_SHOOT
&& systemState != SystemState.SHOOTING) { && systemState != SystemState.SHOOTING) {
setSystemState(SystemState.PREP_SHOOT); setSystemState(SystemState.PREP_SHOOT);
@@ -274,7 +275,7 @@ public class Superstructure extends SubsystemBase {
shooter.stopShooterConveyor(); shooter.stopShooterConveyor();
// 距离到射速的映射由 LimelightSubsystem 提供；操作员 offset 用于现场微调， // 距离到射速的映射由 LimelightSubsystem 提供；操作员 offset 用于现场微调，
// 但不会绕过 Superstructure 状态机。 // 但不会绕过 Superstructure 状态机。
shooter.setFlywheelVelocity(targetRps); shooter.setFlywheelVoltage(targetVolts);
shooter.holdBackboardAt(backboardPosition); shooter.holdBackboardAt(backboardPosition);
if (systemState == SystemState.SHOOTING) { if (systemState == SystemState.SHOOTING) {
@@ -282,7 +283,7 @@ public class Superstructure extends SubsystemBase {
// 避免球接触飞轮导致的掉速中断喂球。 // 避免球接触飞轮导致的掉速中断喂球。
intakeRotater.shootAssist(); intakeRotater.shootAssist();
conveyor.feedToShooter(); conveyor.feedToShooter();
shooter.runShooterConveyorByRPS(Constants.Superstructure.shooterFeedSpeedRps); shooter.runShooterConveyorVoltage(Constants.Superstructure.shooterFeedVoltage);
if (timeInState() > Constants.Superstructure.shootTimeoutSeconds) { if (timeInState() > Constants.Superstructure.shootTimeoutSeconds) {
shotCompletedThisRequest = true; shotCompletedThisRequest = true;
@@ -306,7 +307,7 @@ public class Superstructure extends SubsystemBase {
setSystemState(SystemState.EJECTING); setSystemState(SystemState.EJECTING);
intakeRoller.outtake(); intakeRoller.outtake();
conveyor.reverse(); conveyor.reverse();
shooter.runShooterConveyorByRPS(Constants.Superstructure.shooterReverseSpeedRps); shooter.runShooterConveyorVoltage(Constants.Superstructure.shooterReverseVoltage);
shooter.stopFlywheel(); shooter.stopFlywheel();
shooter.holdBackboardAt(0.0); shooter.holdBackboardAt(0.0);
} }
@@ -345,11 +346,11 @@ public class Superstructure extends SubsystemBase {
table.getEntry("systemState").setString(systemState.name()); table.getEntry("systemState").setString(systemState.name());
table.getEntry("timeInState").setDouble(timeInState()); table.getEntry("timeInState").setDouble(timeInState());
table.getEntry("canShoot").setBoolean(canShoot()); table.getEntry("canShoot").setBoolean(canShoot());
table.getEntry("shooterAtSpeed").setBoolean(shooter.atSpeed()); table.getEntry("shooterAtVoltage").setBoolean(shooter.atVoltage());
table.getEntry("driveAimed").setBoolean(drive.isAimed()); table.getEntry("driveAimed").setBoolean(drive.isAimed());
table.getEntry("driveHeadingError").setDouble(drive.getHeadingError()); table.getEntry("driveHeadingError").setDouble(drive.getHeadingError());
table.getEntry("driveStationary").setBoolean(isDriveStationary()); table.getEntry("driveStationary").setBoolean(isDriveStationary());
table.getEntry("flywheelSpeedOffsetRps").setDouble(flywheelSpeedOffsetRps); table.getEntry("flywheelVoltageOffset").setDouble(flywheelVoltageOffset);
table.getEntry("backboardPositionOffset").setDouble(backboardPositionOffset); table.getEntry("backboardPositionOffset").setDouble(backboardPositionOffset);
} }
} }
src/main/java/frc/robot/tuning/ConfigTalonFXMotorTuner.java
+10 -9
View File
@@ -2,8 +2,9 @@ package frc.robot.tuning;
import java.util.function.Function; import java.util.function.Function;
import com.ctre.phoenix6.configs.Slot0Configs; import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.controls.VelocityDutyCycle; import com.ctre.phoenix6.controls.VoltageOut;
import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.hardware.TalonFX;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.networktables.*; import edu.wpi.first.networktables.*;
public class ConfigTalonFXMotorTuner { public class ConfigTalonFXMotorTuner {
@@ -22,10 +23,10 @@ public class ConfigTalonFXMotorTuner {
private final DoubleSubscriber KsSub; private final DoubleSubscriber KsSub;
private final BooleanSubscriber enableRuningSub; private final BooleanSubscriber enableRuningSub;
private final DoubleSubscriber runningSpeedRPS; private final DoubleSubscriber runningVolts;
private double lastKp = 0, lastKi = 0, lastKd = 0, lastKv = 0, lastKa = 0, lastKs = 0; private double lastKp = 0, lastKi = 0, lastKd = 0, lastKv = 0, lastKa = 0, lastKs = 0;
private final VelocityDutyCycle velocityRequest = new VelocityDutyCycle(0); private final VoltageOut voltageRequest = new VoltageOut(0);
public ConfigTalonFXMotorTuner(TalonFX motor_, String motorName_, Slot0Configs motorSlot0Configs_) { public ConfigTalonFXMotorTuner(TalonFX motor_, String motorName_, Slot0Configs motorSlot0Configs_) {
this.motor = motor_; this.motor = motor_;
this.motorName = motorName_; this.motorName = motorName_;
@@ -42,7 +43,7 @@ public class ConfigTalonFXMotorTuner {
table.getDoubleTopic(motorName+"kS").publish().set(motorSlot0Configs.kS); table.getDoubleTopic(motorName+"kS").publish().set(motorSlot0Configs.kS);
table.getBooleanTopic(motorName+"EnableRunning").publish().set(false);; table.getBooleanTopic(motorName+"EnableRunning").publish().set(false);;
table.getDoubleTopic(motorName+"RunningSpeedRPS").publish().set(0);; table.getDoubleTopic(motorName+"RunningVolts").publish().set(0);;
this.enableSub = table.getBooleanTopic(motorName+"Enable").subscribe(false); this.enableSub = table.getBooleanTopic(motorName+"Enable").subscribe(false);
this.KpSub = table.getDoubleTopic(motorName+"kP").subscribe(motorSlot0Configs.kP); this.KpSub = table.getDoubleTopic(motorName+"kP").subscribe(motorSlot0Configs.kP);
@@ -52,7 +53,7 @@ public class ConfigTalonFXMotorTuner {
this.KaSub = table.getDoubleTopic(motorName+"kA").subscribe(motorSlot0Configs.kA); this.KaSub = table.getDoubleTopic(motorName+"kA").subscribe(motorSlot0Configs.kA);
this.KsSub = table.getDoubleTopic(motorName+"kS").subscribe(motorSlot0Configs.kS); this.KsSub = table.getDoubleTopic(motorName+"kS").subscribe(motorSlot0Configs.kS);
this.enableRuningSub = table.getBooleanTopic(motorName+"EnableRunning").subscribe(false); this.enableRuningSub = table.getBooleanTopic(motorName+"EnableRunning").subscribe(false);
this.runningSpeedRPS = table.getDoubleTopic(motorName+"RunningSpeedRPS").subscribe(0); this.runningVolts = table.getDoubleTopic(motorName+"RunningVolts").subscribe(0);
} }
public void periodic(Runnable func) { public void periodic(Runnable func) {
@@ -80,11 +81,11 @@ public class ConfigTalonFXMotorTuner {
} }
if (enableRuningSub.get()) {; if (enableRuningSub.get()) {;
double speed = runningSpeedRPS.get(); double volts = MathUtil.clamp(runningVolts.get(), -12.0, 12.0);
motor.setControl(velocityRequest.withVelocity(speed)); motor.setControl(voltageRequest.withOutput(volts));
// System.out.println("running motor with speed: "+speed+" on motor: "+motorName); // System.out.println("running motor with volts: "+volts+" on motor: "+motorName);
}else{ }else{
motor.setControl(velocityRequest.withVelocity(0)); motor.setControl(voltageRequest.withOutput(0));
} }
} }
src/main/java/frc/robot/tuning/ConfigTalonFXSMotorTuner.java
-1
View File
@@ -1,7 +1,6 @@
package frc.robot.tuning; package frc.robot.tuning;
import com.ctre.phoenix6.configs.Slot0Configs; import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.controls.VelocityDutyCycle; import com.ctre.phoenix6.controls.VelocityDutyCycle;
import com.ctre.phoenix6.controls.VelocityVoltage;
import com.ctre.phoenix6.hardware.TalonFXS; import com.ctre.phoenix6.hardware.TalonFXS;
import edu.wpi.first.networktables.*; import edu.wpi.first.networktables.*;