屎

src/main/deploy/pathplanner/autos/Auto climb only.auto

@@ -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

@@ -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

@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 15.610835339716738,
+        "x": 15.522355156858092,
-        "y": 3.3590426144037364
+        "y": 3.365
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 15.467,
+        "x": 15.517,
         "y": 3.365
       },
       "prevControl": {
-        "x": 15.743555432745389,
+        "x": 15.77785583456356,
-        "y": 3.3550226257587115
+        "y": 3.365
       },
       "nextControl": null,
       "isLocked": false,

src/main/deploy/pathplanner/paths/Climb Step3 Red.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 15.467,
+        "x": 15.517,
         "y": 3.365
       },
       "prevControl": null,
       "nextControl": {
-        "x": 15.716589593303949,
+        "x": 15.767,
-        "y": 3.3506809597259686
+        "y": 3.365
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 15.467,
+        "x": 15.517,
         "y": 3.465
       },
       "prevControl": {
-        "x": 15.191301517038063,
+        "x": 15.239842716853756,
-        "y": 3.4933990509259307
+        "y": 3.465
       },
       "nextControl": null,
       "isLocked": false,

src/main/java/frc/robot/Constants.java

@@ -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

@@ -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() {
+  // private void configureBindings() {
-        teleopStartTrigger.onTrue(handleClimberAtTeleopStartCommand());
+  //       teleopStartTrigger.onTrue(handleClimberAtTeleopStartCommand());
-    }
+  //   }
 
-  private Command handleClimberAtTeleopStartCommand() {
+  // private Command handleClimberAtTeleopStartCommand() {
-        return new InstantCommand(() -> {
+  //       return new InstantCommand(() -> {
-            if (climberSubsystem.wasAutoClimbUsedInAuto()) {
+  //           if (climberSubsystem.wasAutoClimbUsedInAuto()) {
-                climberSubsystem.climbUp();
+  //               climberSubsystem.climbUp();
-                climberSubsystem.clearAutoClimbUsedInAutoFlag();
+  //               climberSubsystem.clearAutoClimbUsedInAutoFlag();
-            }
+  //           }
-        }, climberSubsystem);
+  //       }, climberSubsystem);
-    }
+  //   }
 
-    public ClimberSubsystem getClimberSubsystem() {
+  //   public ClimberSubsystem getClimberSubsystem() {
-        return climberSubsystem;
+  //       return climberSubsystem;
-    }
+  //   }
 
 }

src/main/java/frc/robot/controls/Autocommand.java

@@ -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("Shake", Autocommand.shake(driveControls));
-        NamedCommands.registerCommand("AutoAim", Autocommand.autoAim(driveControls));
+        // NamedCommands.registerCommand("AutoAim", Autocommand.autoAim(driveControls));
-        NamedCommands.registerCommand("AutoShoot", Autocommand.autoShoot(shooterControls));
+        // 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).withTimeout(1.0).andThen(new InstantCommand(() -> {
-                climber.climbUpNonStopforAuto();
-            }, climber).withTimeout(0.5)).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) {
+        // public static Command climb_down(ClimberSubsystem climber) {
-            return Commands.sequence(
+        //     return Commands.sequence(
-                new InstantCommand(climber::markAutoClimbUsedInAuto),
+        //         new InstantCommand(climber::markAutoClimbUsedInAuto),
-                new RunCommand(() -> {
+        //         new RunCommand(() -> {
-                    climber.climbDownAuto();
+        //             climber.climbDownAuto();
-                }, climber).withTimeout(2.0),
+        //         }, climber).withTimeout(2.0),
-                new InstantCommand(() -> {
+        //         new InstantCommand(() -> {
-                    climber.holdPosition();
+        //             climber.holdPosition();
-                }, climber)
+        //         }, 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) {
+        // public static Command autoAim(DriveControls driveControls) {
-            return driveControls.autoAimCommand();
+        //     return driveControls.autoAimCommand();
-        }
+        // }
-        public static Command autoShoot(ShooterControls shooterControl) {
+        // public static Command autoShoot(ShooterControls shooterControl) {
-            return shooterControl.autoShootToHubCommand();
+        //     return shooterControl.autoShootToHubCommand();
-        }
+        // }
-        public static Command shake(DriveControls driveControls) {
+        // public static Command shake(DriveControls driveControls) {
-            return driveControls.shakeCommand();
+        //     return driveControls.shakeCommand();
-        }
+        // }
 
 
     }

src/main/java/frc/robot/generated/TunerConstants.java

@@ -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

@@ -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() {
+    // public void markAutoClimbUsedInAuto() {
-        autoClimbUsedInAuto = true;
+    //     autoClimbUsedInAuto = true;
-    }
+    // }
 
-    public boolean wasAutoClimbUsedInAuto() {
+    // public boolean wasAutoClimbUsedInAuto() {
-        return autoClimbUsedInAuto;
+    //     return autoClimbUsedInAuto;
-    }
+    // }
 
-    public void clearAutoClimbUsedInAutoFlag() {
+    // public void clearAutoClimbUsedInAutoFlag() {
-        autoClimbUsedInAuto = false;
+    //     autoClimbUsedInAuto = false;
-    }
+    // }
 
     @Override
     public void periodic() {

src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java

@@ -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);
+        shooter_ll_field.setRobotPose(LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.Limelight.LIMELIGHT_NAME_Shooter).pose);
-        intaker_ll_field.setRobotPose(LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.Limelight.LIMELIGHT_NAME_Intaker).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);