admin6494/FRC6494_2026Regional-offseason
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This commit is contained in:
OnDYCLaptop
2026-03-10 21:01:01 +08:00
parent 50c9af952c
commit 1f397e6b6e
10 changed files with 115 additions and 70 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/autos/Shoot and Climb.auto
+18
View File
@@ -22,12 +22,30 @@
"pathName": "Shoot to Climb Step1 Red"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "path",
"data": {
"pathName": "Climb Step2 Red"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "named",
"data": {
"name": "climb_up"
}
},
{
"type": "path",
"data": {
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
+2 -2
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;
@@ -149,7 +149,7 @@ public final class Constants {
public static double climbUpTicks = 94; // TODO: 实测后调整
public static double climbDownTicks = 0; // TODO: 实测后调整
public static double climbDownAutoTicks = -5; // TODO: 实测后调整，自动爬时可能不需要完全降到底
public static double climbDownAutoTicks = 0; // TODO: 实测后调整，自动爬时可能不需要完全降到底
public static final double climbVelocity = -200;
public static final double holdToleranceRot = 0.5;
public static final double deltaDownTicks = 1;
src/main/java/frc/robot/RobotContainer.java
+15 -15
View File
@@ -91,7 +91,7 @@ public class RobotContainer {
configueClimber();
bingdingLED();
configueIntaker();
configureBindings();
//configureBindings();
}
/* ====================== */
@@ -202,21 +202,21 @@ public class RobotContainer {
controllerupper.a().onTrue(intakerControls.resetIntakerRotaterEncoderCommand(IntakerSubsystem));
}
private void configureBindings() {
teleopStartTrigger.onTrue(handleClimberAtTeleopStartCommand());
}
// private void configureBindings() {
// teleopStartTrigger.onTrue(handleClimberAtTeleopStartCommand());
// }
private Command handleClimberAtTeleopStartCommand() {
return new InstantCommand(() -> {
if (climberSubsystem.wasAutoClimbUsedInAuto()) {
climberSubsystem.climbUp();
climberSubsystem.clearAutoClimbUsedInAutoFlag();
}
}, climberSubsystem);
}
// private Command handleClimberAtTeleopStartCommand() {
// return new InstantCommand(() -> {
// if (climberSubsystem.wasAutoClimbUsedInAuto()) {
// climberSubsystem.climbUp();
// climberSubsystem.clearAutoClimbUsedInAutoFlag();
// }
// }, climberSubsystem);
// }
public ClimberSubsystem getClimberSubsystem() {
return climberSubsystem;
}
// public ClimberSubsystem getClimberSubsystem() {
// return climberSubsystem;
// }
}
src/main/java/frc/robot/controls/Autocommand.java
+25 -27
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));
@@ -40,32 +40,30 @@ 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));
}
public static Command climb_up(ClimberSubsystem climber) {
return new RunCommand(() -> {
climber.climbUp(); // 控制爬升器上升
}, climber).withTimeout(1.0).andThen(new RunCommand(() -> {
climber.climbUpNonStopforAuto();
}, climber).withTimeout(0.5)).andThen(new InstantCommand(() -> {
}, climber).withTimeout(1.0).andThen(new InstantCommand(() -> {
climber.holdPosition(); // 停止并锁定当前爬升器位置
}, climber));
}
public static Command climb_down(ClimberSubsystem climber) {
return Commands.sequence(
new InstantCommand(climber::markAutoClimbUsedInAuto),
new RunCommand(() -> {
climber.climbDownAuto();
}, climber).withTimeout(2.0),
new InstantCommand(() -> {
climber.holdPosition();
}, climber)
);
}
// public static Command climb_down(ClimberSubsystem climber) {
// return Commands.sequence(
// new InstantCommand(climber::markAutoClimbUsedInAuto),
// new RunCommand(() -> {
// climber.climbDownAuto();
// }, climber).withTimeout(2.0),
// new InstantCommand(() -> {
// climber.holdPosition();
// }, climber)
// );
// }
public static Command start_intake(IntakerSubsystem intaker) {
return new RunCommand(() -> {
@@ -138,15 +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/generated/TunerConstants.java
+11 -1
View File
@@ -66,7 +66,17 @@ public class TunerConstants {
);
private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration();
// Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs
private static final Pigeon2Configuration pigeonConfigs = null;
private static final Pigeon2Configuration pigeonConfigs =
new Pigeon2Configuration()
.withGyroTrim(
new GyroTrimConfigs()
.withGyroScalarZ(-5.0)
)
.withPigeon2Features(
new Pigeon2FeaturesConfigs()
.withEnableCompass(false)
);
// CAN bus that the devices are located on;
// All swerve devices must share the same CAN bus
src/main/java/frc/robot/subsystems/ClimberSubsystem.java
+10 -10
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@@ -16,7 +16,7 @@ import frc.robot.Constants;
public class ClimberSubsystem extends SubsystemBase {
private boolean autoClimbUsedInAuto = false;
// private boolean autoClimbUsedInAuto = false;
private final TalonFX climberMotor;
private double targetPositionTicks;
@@ -102,17 +102,17 @@ public class ClimberSubsystem extends SubsystemBase {
climberMotor.set(0);
}
public void markAutoClimbUsedInAuto() {
autoClimbUsedInAuto = true;
}
// public void markAutoClimbUsedInAuto() {
// autoClimbUsedInAuto = true;
// }
public boolean wasAutoClimbUsedInAuto() {
return autoClimbUsedInAuto;
}
// public boolean wasAutoClimbUsedInAuto() {
// return autoClimbUsedInAuto;
// }
public void clearAutoClimbUsedInAutoFlag() {
autoClimbUsedInAuto = false;
}
// public void clearAutoClimbUsedInAutoFlag() {
// autoClimbUsedInAuto = false;
// }
@Override
public void periodic() {
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);