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/java/frc/robot/controls/Autocommand.java
+25 -27
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@@ -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();
// }
}