admin6494/FRC6494_2026Regional-offseason
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gpt的超级状态机

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OnDYCLaptop
2026-07-04 15:02:09 +08:00
parent 132b231c36
commit 3c5d17b527
19 changed files with 1335 additions and 1317 deletions
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src/main/java/frc/robot/controls/DriveControls.java
-13
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@@ -151,9 +151,6 @@ public class DriveControls {
case AllTelop:
autoControlNetworkTable.getEntry("autoRotationRate").setDouble(Double.NaN);
break;
case Climbing:
// alignToClimb();
break;
case CrossingBump:
double differenceBump = calculateDifferenceToTwoTarget(drivetrain.getState().Pose.getY(), Constants.AutoPositioning.bumpY[0], Constants.AutoPositioning.bumpY[1]);
if (Math.abs(differenceBump) < 0.1) {
@@ -405,16 +402,6 @@ public class DriveControls {
public Command getAllianceColorCommand() {
return Commands.runOnce(this::setTeamColors);
}
// public void alignToClimb(){
// LimelightSupplier.setPipeline(Constants.Limelight.climbPipelineIndex);
// if(!drivetrain.isAlignedToAprilTag()){
// drivetrain.driveToAprilTag();
// }
// else{
// LimelightSupplier.setPipeline(Constants.Limelight.locatePipelineIndex);
// drivetrain.stop();
// }
// }
public Command autoAimCommand() {
return drivetrain.applyRequest(() -> {
double[] distanceAndRotation = calculateDistanceAndRotationToHub();