admin6494/FRC6494_2026Regional-offseason
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Merge branch '1' of https://github.com/HarryWang163/FRC6494_2026Regional into 1

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This commit is contained in:
OnDYCLaptop
2026-03-11 00:21:29 +08:00
parent 95fabf94ff d5db9c75c4
commit 1d0454dc58
10 changed files with 91 additions and 37 deletions
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src/main/deploy/pathplanner/autos/Auto climb only.auto
+19
View File
@@ -0,0 +1,19 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "start_intake_timelimit"
}
}
]
}
},
"resetOdom": true,
"folder": "Red Middle",
"choreoAuto": false
}
src/main/deploy/pathplanner/paths/Climb Step2 Red.path
+5 -5
View File
@@ -8,20 +8,20 @@
},
"prevControl": null,
"nextControl": {
"x": 15.610835339716738,
"y": 3.3590426144037364
"x": 15.522355156858092,
"y": 3.365
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 15.467,
"x": 15.517,
"y": 3.365
},
"prevControl": {
"x": 15.743555432745389,
"y": 3.3550226257587115
"x": 15.77785583456356,
"y": 3.365
},
"nextControl": null,
"isLocked": false,
src/main/deploy/pathplanner/paths/Climb Step3 Red.path
+6 -6
View File
@@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 15.467,
"x": 15.517,
"y": 3.365
},
"prevControl": null,
"nextControl": {
"x": 15.716589593303949,
"y": 3.3506809597259686
"x": 15.767,
"y": 3.365
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 15.467,
"x": 15.517,
"y": 3.465
},
"prevControl": {
"x": 15.191301517038063,
"y": 3.4933990509259307
"x": 15.239842716853756,
"y": 3.465
},
"nextControl": null,
"isLocked": false,
src/main/java/frc/robot/Constants.java
+1 -1
View File
@@ -42,7 +42,7 @@ public final class Constants {
public static final double backboardDownLimit = 0.0; // 背板下限角度（根据实际需求设置）
}
public class AutoPositioning {
public static final double autoRotationkP = 0.1;
public static final double autoRotationkP = 0.08;
public static final double autoRotationForBumpTargetDegrees = 45;
public static final double autoRotationForTrenchTargetDegrees = 0;
public static final boolean teleopOffsetEnabled = true;
src/main/java/frc/robot/Robot.java
+2
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@@ -3,6 +3,8 @@
// the WPILib BSD license file in the root directory of this project.
package frc.robot;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
src/main/java/frc/robot/RobotContainer.java
+27 -6
View File
@@ -70,9 +70,19 @@ public class RobotContainer {
private final SendableChooser<Command> autoChooser;
private final Trigger enableTrigger = new Trigger(DriverStation::isEnabled);
private final Trigger teleopStartTrigger = new Trigger(DriverStation::isTeleopEnabled);
public RobotContainer() {
Pose2d startingPose = Constants.StartingPoints.Red.Point2;
drivetrain.resetPose(startingPose);
configueSwerve();
configueShooter();
configueClimber();
bingdingLED();
configueIntaker();
//configureBindings();
Autocommand.preNameCommands(
climberSubsystem,
IntakerSubsystem,
@@ -81,15 +91,9 @@ public class RobotContainer {
driveControls,
shooterControls
);
SignalLogger.enableAutoLogging(false);
autoChooser = AutoBuilder.buildAutoChooser();
SmartDashboard.putData("Auto Chooser", autoChooser);
configueSwerve();
configueShooter();
configueClimber();
bingdingLED();
configueIntaker();
}
/* ====================== */
@@ -200,4 +204,21 @@ public class RobotContainer {
controllerupper.a().onTrue(intakerControls.resetIntakerRotaterEncoderCommand(IntakerSubsystem));
}
// private void configureBindings() {
// teleopStartTrigger.onTrue(handleClimberAtTeleopStartCommand());
// }
// private Command handleClimberAtTeleopStartCommand() {
// return new InstantCommand(() -> {
// if (climberSubsystem.wasAutoClimbUsedInAuto()) {
// climberSubsystem.climbUp();
// climberSubsystem.clearAutoClimbUsedInAutoFlag();
// }
// }, climberSubsystem);
// }
// public ClimberSubsystem getClimberSubsystem() {
// return climberSubsystem;
// }
}
src/main/java/frc/robot/controls/Autocommand.java
+13 -13
View File
@@ -32,7 +32,7 @@ import frc.robot.Constants.RobotStatus;
ShooterControls shooterControls
) {
NamedCommands.registerCommand("climb_up", climb_up(climber));
NamedCommands.registerCommand("climb_down", climb_down(climber));
//NamedCommands.registerCommand("climb_down", climb_down(climber));
NamedCommands.registerCommand("start_intake", start_intake(intaker));
NamedCommands.registerCommand("start_intake_timelimit", start_intake_timelimit(intaker));
NamedCommands.registerCommand("stop_intake", stop_intake(intaker));
@@ -40,9 +40,9 @@ import frc.robot.Constants.RobotStatus;
NamedCommands.registerCommand("intaker_up", intaker_up(intaker));
NamedCommands.registerCommand("auto_align_to_climb", autoAlignToClimb(drivetrain));
NamedCommands.registerCommand("shoot", shoot(shooter));
NamedCommands.registerCommand("Shake", Autocommand.shake(driveControls));
NamedCommands.registerCommand("AutoAim", Autocommand.autoAim(driveControls));
NamedCommands.registerCommand("AutoShoot", Autocommand.autoShoot(shooterControls));
// NamedCommands.registerCommand("Shake", Autocommand.shake(driveControls));
// NamedCommands.registerCommand("AutoAim", Autocommand.autoAim(driveControls));
// NamedCommands.registerCommand("AutoShoot", Autocommand.autoShoot(shooterControls));
}
@@ -136,15 +136,15 @@ import frc.robot.Constants.RobotStatus;
shooter.setConveyorSpeedByRPS(0); // 停止输送
}, shooter)));
}
public static Command autoAim(DriveControls driveControls) {
return driveControls.autoAimCommand();
}
public static Command autoShoot(ShooterControls shooterControl) {
return shooterControl.autoShootToHubCommand();
}
public static Command shake(DriveControls driveControls) {
return driveControls.shakeCommand();
}
// public static Command autoAim(DriveControls driveControls) {
// return driveControls.autoAimCommand();
// }
// public static Command autoShoot(ShooterControls shooterControl) {
// return shooterControl.autoShootToHubCommand();
// }
// public static Command shake(DriveControls driveControls) {
// return driveControls.shakeCommand();
// }
}
src/main/java/frc/robot/controls/ClimberControls.java
-2
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@@ -59,6 +59,4 @@ public class ClimberControls {
return Commands.runOnce(climber::zeroEncoder, climber);
}
}
src/main/java/frc/robot/subsystems/ClimberSubsystem.java
+14
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@@ -16,6 +16,8 @@ import frc.robot.Constants;
public class ClimberSubsystem extends SubsystemBase {
// private boolean autoClimbUsedInAuto = false;
private final TalonFX climberMotor;
private double targetPositionTicks;
@@ -100,6 +102,18 @@ public class ClimberSubsystem extends SubsystemBase {
climberMotor.set(0);
}
// public void markAutoClimbUsedInAuto() {
// autoClimbUsedInAuto = true;
// }
// public boolean wasAutoClimbUsedInAuto() {
// return autoClimbUsedInAuto;
// }
// public void clearAutoClimbUsedInAutoFlag() {
// autoClimbUsedInAuto = false;
// }
@Override
public void periodic() {
climberTable.getEntry("velocityRps").setDouble(getVelocityRps());
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+4 -4
View File
@@ -163,7 +163,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
public void forceUsingLimelightmt2() {
LimelightHelpers.PoseEstimate mt2 =
LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.Limelight.LIMELIGHT_NAME_Shooter);
LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.Limelight.LIMELIGHT_NAME_Shooter);
if (mt2 == null || mt2.tagCount == 0) {
return;
@@ -258,7 +258,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
private LimelightHelpers.PoseEstimate getLimelightPoseEstimate(String limelightName) {
if (Constants.Limelight.UsingMetaTag2) {
return LimelightHelpers.getBotPoseEstimate_wpiBlue(limelightName);
return LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(limelightName);
}
return LimelightHelpers.getBotPoseEstimate_wpiBlue(limelightName);
}
@@ -415,8 +415,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
Pose2d pose = getState().Pose;
m_field.setRobotPose(pose);
posePub.set(pose);
shooter_ll_field.setRobotPose(LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.Limelight.LIMELIGHT_NAME_Shooter).pose);
intaker_ll_field.setRobotPose(LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.Limelight.LIMELIGHT_NAME_Intaker).pose);
shooter_ll_field.setRobotPose(LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.Limelight.LIMELIGHT_NAME_Shooter).pose);
intaker_ll_field.setRobotPose(LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.Limelight.LIMELIGHT_NAME_Intaker).pose);
driveNetworkTable.getEntry("YawFromState").setDouble(getState().Pose.getRotation().getDegrees());
driveNetworkTable.getEntry("DriveMode").setString(m_driveMode.name());
driveNetworkTable.getEntry("IsFieldCentric").setBoolean(m_driveMode == DriveMode.FIELD_CENTRIC);