admin6494/FRC6494_2026Regional-offseason
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

手动修复已知问题 自动第一版

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+5 -5
View File
@@ -78,8 +78,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
SmartDashboard.putData("Field", m_field);
SmartDashboard.putData("PositioningShooterll", shooter_ll_field);
SmartDashboard.putData("PositioningIntakerll", intaker_ll_field);
LimelightHelpers.SetIMUMode(Constants.Limelight.LIMELIGHT_NAME_Shooter, 1);
LimelightHelpers.SetIMUMode(Constants.Limelight.LIMELIGHT_NAME_Intaker, 1);
LimelightHelpers.SetIMUMode(Constants.Limelight.LIMELIGHT_NAME_Shooter, 0);
LimelightHelpers.SetIMUMode(Constants.Limelight.LIMELIGHT_NAME_Intaker, 0);
positioningNetworkTable = NetworkTableInstance.getDefault().getTable("Positioning");
driveNetworkTable = NetworkTableInstance.getDefault().getTable("Drive");
ll_shooter_NT = NetworkTableInstance.getDefault().getTable("Positioning/limelight-shooter");
@@ -161,7 +161,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
});
}
public void forceUsingLimelightMT2() {
public void forceUsingLimelightmt2() {
LimelightHelpers.PoseEstimate mt2 =
LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.Limelight.LIMELIGHT_NAME_Shooter);
@@ -173,7 +173,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
addVisionMeasurement(mt2.pose, mt2.timestampSeconds, stdDevs);
}
private void fuseLimelightMT2() {
private void fuseLimelightmt2() {
Pose2d current = getState().Pose;
LimelightHelpers.PoseEstimate mt2_shooter =
@@ -437,7 +437,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
0, 0, 0, 0, 0
);
fuseLimelightMT2();
fuseLimelightmt2();
if (!m_hasAppliedOperatorPerspective || DriverStation.isDisabled()) {
DriverStation.getAlliance().ifPresent(allianceColor -> {