admin6494/FRC6494_2026Regional-offseason
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手动修复已知问题 自动第一版

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OnDYCLaptop
2026-03-08 10:48:45 +08:00
parent f68847d3e7
commit 3323fb511e
7 changed files with 58 additions and 26 deletions
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src/main/java/frc/robot/RobotContainer.java
+3 -3
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@@ -117,19 +117,19 @@ public class RobotContainer {
controllerlower.back().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric));
// Start：强行使用metaTag2全场定位
controllerlower.start().whileTrue(drivetrain.run(drivetrain::forceUsingLimelightMT2));
controllerlower.start().whileTrue(drivetrain.run(drivetrain::forceUsingLimelightmt2));
//LM 按下时autoaimming，松开时alltelop
// controllerlower.leftStick().onTrue(robotStatusManager.setStatusCommand(RobotStatus.AutoAimming));
// controllerlower.leftStick().onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
//双操均可触发autoaimming模式，松开时alltelop
Trigger autoAim = controllerupper.rightBumper().or(controllerlower.rightStick());
Trigger autoAim = controllerupper.rightBumper();//.or(controllerlower.rightStick());
autoAim.onTrue(robotStatusManager.setStatusCommand(RobotStatus.AutoAimming));
autoAim.onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
//双操均可触发passingball模式，松开时alltelop
Trigger autoAim2 = controllerupper.leftBumper().or(controllerlower.leftStick());
Trigger autoAim2 = controllerupper.leftBumper();//.or(controllerlower.leftStick());
autoAim2.onTrue(robotStatusManager.setStatusCommand(RobotStatus.PassingBall));
autoAim2.onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));