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/subsystems/ClimberSubsystem.java
+10 -10
View File
@@ -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);