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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This commit is contained in:
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/controls/ShooterControls.java
+8 -8
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@@ -40,16 +40,16 @@ public class ShooterControls {
case PassingBall:
var xP = shooterSubsystem.getDistanceToPassball();
xP = Math.max(1.2, Math.min(4.5, xP));
flywheelSpeed = 0.6956596811733782*xP*xP*xP*xP*xP*xP*xP-14.164408860183267*xP*xP*xP*xP*xP*xP+119.7115375240918*xP*xP*xP*xP*xP-543.0984876677477*xP*xP*xP*xP+1425.1928543240738*xP*xP*xP-2156.199296490315*xP*xP+1736.568139600292*xP-516.097598057351;
flywheelSpeed = -1.4964026859575532*xP*xP*xP*xP*xP*xP*xP+29.82445640241506*xP*xP*xP*xP*xP*xP-247.71603153159896*xP*xP*xP*xP*xP+1108.8727302184625*xP*xP*xP*xP-2881.517500617481*xP*xP*xP+4332.05363145275*xP*xP-3467.2508337871454*xP+1192.1508062663759;
flywheelSpeed += flywheelSpeedOffset;
backboardPosition = xP*xP;//todo:实测传球的时候的背板位置 打表
backboardPosition = -122.11889023593778*xP*xP*xP*xP*xP*xP*xP+2453.385583841308*xP*xP*xP*xP*xP*xP-20553.05413872581*xP*xP*xP*xP*xP+92963.33175750206*xP*xP*xP*xP-244905.25916147238*xP*xP*xP+375150.1363997868*xP*xP-308031.51715612336*xP+104203.52690842684;
backboardPosition = +34.5286998307899*xP*xP*xP*xP*xP*xP*xP*xP-788.5788623683884*xP*xP*xP*xP*xP*xP*xP+7658.073303693148*xP*xP*xP*xP*xP*xP-41191.69338972519*xP*xP*xP*xP*xP+133870.54588688645*xP*xP*xP*xP-268559.6987062158*xP*xP*xP+324254.6530324262*xP*xP-215015.48893131423*xP+59977.46545382827;
backboardPosition += backboardPositionOffset;
conveyorSpeed = Constants.Shooter.conveyorSpeed;
if (controller.getRightTriggerAxis() < 0.1) {
flywheelSpeed = 0;
conveyorSpeed = 0;
}
if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()<flywheelSpeed*0.95){
if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()<flywheelSpeed*0.9){
conveyorSpeed = 0;
}
shooterControlTable.getEntry("flywheelTargetSpeed").setDouble(flywheelSpeed);
@@ -67,23 +67,23 @@ public class ShooterControls {
case AutoAimming:
var x = shooterSubsystem.getDistanceToHub();
x = Math.max(1.2, Math.min(4.5, x));
flywheelSpeed = 0.6956596811733782*x*x*x*x*x*x*x-14.164408860183267*x*x*x*x*x*x+119.7115375240918*x*x*x*x*x-543.0984876677477*x*x*x*x+1425.1928543240738*x*x*x-2156.199296490315*x*x+1736.568139600292*x-516.097598057351;
flywheelSpeed = -1.4964026859575532*x*x*x*x*x*x*x+29.82445640241506*x*x*x*x*x*x-247.71603153159896*x*x*x*x*x+1108.8727302184625*x*x*x*x-2881.517500617481*x*x*x+4332.05363145275*x*x-3467.2508337871454*x+1192.1508062663759;
flywheelSpeed += flywheelSpeedOffset;
backboardPosition = -122.11889023593778*x*x*x*x*x*x*x+2453.385583841308*x*x*x*x*x*x-20553.05413872581*x*x*x*x*x+92963.33175750206*x*x*x*x-244905.25916147238*x*x*x+375150.1363997868*x*x-308031.51715612336*x+104203.52690842684;
backboardPosition = +34.5286998307899*x*x*x*x*x*x*x*x-788.5788623683884*x*x*x*x*x*x*x+7658.073303693148*x*x*x*x*x*x-41191.69338972519*x*x*x*x*x+133870.54588688645*x*x*x*x-268559.6987062158*x*x*x+324254.6530324262*x*x-215015.48893131423*x+59977.46545382827;
backboardPosition += backboardPositionOffset;
conveyorSpeed = Constants.Shooter.conveyorSpeed;
if (controller.getRightTriggerAxis() < 0.1) {
flywheelSpeed = 0;
conveyorSpeed = 0;
}
if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()<flywheelSpeed*0.95){
if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()<flywheelSpeed*0.9){
conveyorSpeed = 0;
}
shooterControlTable.getEntry("flywheelTargetSpeed").setDouble(flywheelSpeed);
shooterControlTable.getEntry("conveyerTargetSpeed").setDouble(conveyorSpeed);
shooterControlTable.getEntry("backboardTargetPosition").setDouble(backboardPosition);
shooterSubsystem.setFlywheelSpeedByRPS(flywheelSpeed);
shooterSubsystem.setConveyorSpeedOpen(5);
shooterSubsystem.setConveyorSpeedByRPS(conveyorSpeed);
shooterSubsystem.setBackboardPosition(backboardPosition);
if(shooterSubsystem.isBackboardAtTarget()){
shooterSubsystem.backboardMotor.set(0);