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

7.21

Browse Source
This commit is contained in:
OnDYCLaptop
2026-07-21 00:22:54 +08:00
parent a6595a79d7
commit 40c5b5d642
9 changed files with 3618 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc/robot/Constants.java
+4 -3
View File
@@ -30,6 +30,7 @@ public final class Constants {
public static final double shooterConveyorFeedVelocity = 40;
public static final double shooterConveyorReverseVelocity = -10;
public static final double shooterConveyorMaxVelocity = 120.0;
public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs()
.withKP(0.21)
@@ -128,7 +129,7 @@ public final class Constants {
public static final double intakeRollerOuttakeVoltage = 3.0;
public static final double intakeRotaterRaiseVoltage = 0.8;
public static final double intakeRotaterLowerVoltage = -0.1;
public static final double intakeRotaterLowerVoltage = -1.5;
public static final Slot0Configs intakeRollerSlot0Configs = new Slot0Configs()
.withKP(0.00).withKI(0.00).withKD(0.00)
@@ -146,6 +147,7 @@ public final class Constants {
public static class Conveyor {
public static final int mainConveyorID = 42;
public static final double feedVoltage = 2.5;
public static final double intakeFeedVoltage = 1.5;
public static final double reverseVoltage = -2.0;
public static final Slot0Configs mainConveyorSlot0Configs = new Slot0Configs()
@@ -159,6 +161,7 @@ public final class Constants {
public static final double shooterFeedVelocity = Shooter.shooterConveyorFeedVelocity;
public static final double shooterReverseVelocity = Shooter.shooterConveyorReverseVelocity;
public static final double shootTimeoutSeconds = 4.0;
public static final double prepShootFallbackDelaySeconds = 0.5;
public static final double aimToleranceDegrees = 1.5;
public static final double stationarySpeedToleranceMetersPerSecond = 0.5;
public static final double passBallFlywheelVoltage = Shooter.defaultFlywheelVoltage;
@@ -168,7 +171,5 @@ public final class Constants {
// Shoot backboard target position in external encoder counts.
public static final double backboardShootPosition = 175.0;
public static final double backboardReadyPositionTolerance = 100.0;
// Whether the shooting gate requires the drivetrain to be nearly still.
public static final boolean stationaryGateEnabled = true;
}
}
src/main/java/frc/robot/RobotContainer.java
+5
View File
@@ -138,6 +138,9 @@ public class RobotContainer {
.onTrue(operatorControls.requestShootHubCommand())
.onFalse(operatorControls.requestIdleCommand());
controller.rightBumper().and(teleopOnly)
.onTrue(Commands.runOnce(() -> driveControls.setBoostEnabled(true)))
.onFalse(Commands.runOnce(() -> driveControls.setBoostEnabled(false)));
controller.b().and(teleopOnly)
.onTrue(operatorControls.requestEjectCommand())
.onFalse(operatorControls.requestIdleCommand());
controller.povLeft().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVelocityOffset(-1.0)));
@@ -162,6 +165,8 @@ public class RobotContainer {
configFlywheelTuner.periodic(() -> shooterSubsystem.applyLeftConfigurationToRight());
configBackboardTuner.periodic();
shooterSubsystem.debugFlywheelVelocityPeriodic(allowMotorOutputTuning);
shooterSubsystem.debugShooterConveyorVelocityPeriodic(allowMotorOutputTuning);
conveyorSubsystem.debugMainConveyorVoltagePeriodic(allowMotorOutputTuning);
shooterSubsystem.debugBackboardTargetPeriodic(allowMotorOutputTuning);
shooterSubsystem.setRightFlywheelFollowLeft();
shooterSubsystem.setRightConveyorFollowLeft();
src/main/java/frc/robot/controls/DriveControls.java
+3 -3
View File
@@ -37,14 +37,14 @@ public class DriveControls {
private final double maxAngularRate = RotationsPerSecond.of(0.75).in(edu.wpi.first.units.Units.RadiansPerSecond);
// 默认速度比例，普通驾驶使用。
private double normalDriveScale = 1.0;
private double normalTurnScale = 1.0;
private double normalDriveScale = 0.6;
private double normalTurnScale = 0.8;
// 加速模式比例，按住 RB 时使用。
private double boostDriveScale = 1.0;
private double boostTurnScale = 1.0;
// 自动瞄准时降低平移速度。
private double slowDriveScale =0.1;
private double slowDriveScale = 0.3;
private boolean boostEnabled = false;
src/main/java/frc/robot/subsystems/ConveyorSubsystem.java
+43
View File
@@ -1,11 +1,14 @@
package frc.robot.subsystems;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.controls.NeutralOut;
import com.ctre.phoenix6.controls.VoltageOut;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.math.MathUtil;
import frc.robot.Constants;
@@ -18,15 +21,27 @@ public class ConveyorSubsystem extends SubsystemBase {
private final VoltageOut voltageRequest = new VoltageOut(0);
private final NeutralOut neutralRequest = new NeutralOut();
private final NetworkTable table = NetworkTableInstance.getDefault().getTable("Conveyor");
private final NetworkTable tuningTable = NetworkTableInstance.getDefault().getTable("Tuning/mainConveyor");
private double targetOutputVolts = 0.0;
private double commandedDebugVolts = Constants.Conveyor.feedVoltage;
private double clampedDebugVolts = Constants.Conveyor.feedVoltage;
private boolean voltageTuningActive = false;
public ConveyorSubsystem() {
mainConveyor = new TalonFX(Constants.Conveyor.mainConveyorID);
mainConveyor.getConfigurator().apply(Constants.Conveyor.mainConveyorSlot0Configs);
var mainConveyorMotorOutputConfigs = new MotorOutputConfigs();
mainConveyorMotorOutputConfigs.NeutralMode = NeutralModeValue.Coast;
mainConveyor.getConfigurator().apply(mainConveyorMotorOutputConfigs);
tuningTable.getEntry("mainConveyorVoltageEnable").setDefaultBoolean(false);
tuningTable.getEntry("mainConveyorTargetVolts").setDefaultDouble(Constants.Conveyor.feedVoltage);
}
public void feedToShooter() {
setVoltage(Constants.Conveyor.feedVoltage);
}
public void feedForIntake() {
setVoltage(Constants.Conveyor.intakeFeedVoltage);
}
public void reverse() {
setVoltage(Constants.Conveyor.reverseVoltage);
}
@@ -39,9 +54,37 @@ public class ConveyorSubsystem extends SubsystemBase {
mainConveyor.setControl(voltageRequest.withOutput(targetOutputVolts));
}
public boolean isMainConveyorTuningControlActive() {
return DriverStation.isTestEnabled()
&& tuningTable.getEntry("mainConveyorVoltageEnable").getBoolean(false);
}
public void debugMainConveyorVoltagePeriodic(boolean allowMotorOutput) {
voltageTuningActive =
allowMotorOutput
&& DriverStation.isTestEnabled()
&& tuningTable.getEntry("mainConveyorVoltageEnable").getBoolean(false);
commandedDebugVolts = tuningTable.getEntry("mainConveyorTargetVolts")
.getDouble(Constants.Conveyor.feedVoltage);
clampedDebugVolts = MathUtil.clamp(commandedDebugVolts, -12.0, 12.0);
tuningTable.getEntry("mainConveyorVoltageEnableActive").setBoolean(voltageTuningActive);
tuningTable.getEntry("mainConveyorCommandedTargetVolts").setDouble(commandedDebugVolts);
tuningTable.getEntry("mainConveyorClampedTargetVolts").setDouble(clampedDebugVolts);
if (voltageTuningActive) {
setVoltage(clampedDebugVolts);
}
}
@Override
public void periodic() {
table.getEntry("velocity").setDouble(mainConveyor.getVelocity().getValueAsDouble());
table.getEntry("targetOutputVolts").setDouble(targetOutputVolts);
table.getEntry("motorOutputVolts").setDouble(mainConveyor.getMotorVoltage().getValueAsDouble());
table.getEntry("statorCurrent").setDouble(mainConveyor.getStatorCurrent().getValueAsDouble());
table.getEntry("voltageTuningActive").setBoolean(voltageTuningActive);
table.getEntry("commandedDebugVolts").setDouble(commandedDebugVolts);
table.getEntry("clampedDebugVolts").setDouble(clampedDebugVolts);
}
}
src/main/java/frc/robot/subsystems/IntakeRotaterSubsystem.java
+2 -2
View File
@@ -69,9 +69,9 @@ public class IntakeRotaterSubsystem extends SubsystemBase {
}
public void shootAssist() {
double cycleTime = Timer.getFPGATimestamp() % 1.7;
double cycleTime = Timer.getFPGATimestamp() % 1.6;
if (cycleTime < 0.7) {
if (cycleTime < 0.6) {
setVoltage(1);
} else if (cycleTime < 0.9) {
setVoltage(0.0);
src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+41 -1
View File
@@ -54,12 +54,15 @@ public class ShooterSubsystem extends SubsystemBase {
private final NetworkTable shooterNetworkTable;
private final NetworkTable flywheelTuningTable;
private final NetworkTable backboardTuningTable;
private final NetworkTable shooterConveyorTuningTable;
private double flywheelOutputVolts = 0.0;
private double flywheelTargetVelocity = 0.0;
private double flywheelVelocityTolerance = Constants.Shooter.flywheelReadyVelocityTolerance;
private boolean flywheelVelocityTuningActive = false;
private double shooterConveyorTargetVelocity = 0.0;
private double shooterConveyorCommandedTargetVelocity = Constants.Shooter.shooterConveyorFeedVelocity;
private double shooterConveyorClampedTargetVelocity = Constants.Shooter.shooterConveyorFeedVelocity;
private boolean shooterConveyorVelocityTuningActive = false;
private double shooterConveyorOutputVolts = 0.0;
private double backboardOutputVolts = 0.0;
@@ -123,6 +126,10 @@ public class ShooterSubsystem extends SubsystemBase {
backboardTuningTable = NetworkTableInstance.getDefault().getTable("Tuning/backboard");
backboardTuningTable.getEntry("backboardPositionEnable").setDefaultBoolean(false);
backboardTuningTable.getEntry("backboardTargetPosition").setDefaultDouble(0.0);
shooterConveyorTuningTable = NetworkTableInstance.getDefault().getTable("Tuning/shooterConveyor");
shooterConveyorTuningTable.getEntry("shooterConveyorVelocityEnable").setDefaultBoolean(false);
shooterConveyorTuningTable.getEntry("shooterConveyorTargetVelocity")
.setDefaultDouble(Constants.Shooter.shooterConveyorFeedVelocity);
}
/* ====================== */
@@ -354,7 +361,8 @@ public class ShooterSubsystem extends SubsystemBase {
}
public boolean isShooterConveyorTuningControlActive() {
return false;
return DriverStation.isTestEnabled()
&& shooterConveyorTuningTable.getEntry("shooterConveyorVelocityEnable").getBoolean(false);
}
public void resetbackboardencoder() {
@@ -429,6 +437,34 @@ public class ShooterSubsystem extends SubsystemBase {
}
}
public void debugShooterConveyorVelocityPeriodic(boolean allowMotorOutput) {
shooterConveyorVelocityTuningActive =
allowMotorOutput
&& DriverStation.isTestEnabled()
&& shooterConveyorTuningTable.getEntry("shooterConveyorVelocityEnable").getBoolean(false);
shooterConveyorCommandedTargetVelocity = shooterConveyorTuningTable
.getEntry("shooterConveyorTargetVelocity")
.getDouble(Constants.Shooter.shooterConveyorFeedVelocity);
shooterConveyorClampedTargetVelocity = MathUtil.clamp(
shooterConveyorCommandedTargetVelocity,
-Constants.Shooter.shooterConveyorMaxVelocity,
Constants.Shooter.shooterConveyorMaxVelocity
);
shooterConveyorTuningTable.getEntry("shooterConveyorVelocityEnableActive")
.setBoolean(shooterConveyorVelocityTuningActive);
shooterConveyorTuningTable.getEntry("shooterConveyorCommandedTargetVelocity")
.setDouble(shooterConveyorCommandedTargetVelocity);
shooterConveyorTuningTable.getEntry("shooterConveyorClampedTargetVelocity")
.setDouble(shooterConveyorClampedTargetVelocity);
shooterConveyorTuningTable.getEntry("shooterConveyorMaxVelocity")
.setDouble(Constants.Shooter.shooterConveyorMaxVelocity);
if (shooterConveyorVelocityTuningActive) {
runShooterConveyorVelocity(shooterConveyorClampedTargetVelocity);
}
}
@Override
public void periodic() {
double backboardPosition = getBackboardPosition();
@@ -456,6 +492,10 @@ public class ShooterSubsystem extends SubsystemBase {
shooterNetworkTable.getEntry("conveyorVelocity").setDouble(getShooterConveyorVelocity());
shooterNetworkTable.getEntry("conveyorVelocityError").setDouble(getShooterConveyorVelocityError());
shooterNetworkTable.getEntry("conveyorVelocityTuningActive").setBoolean(shooterConveyorVelocityTuningActive);
shooterNetworkTable.getEntry("conveyorCommandedTargetVelocity").setDouble(shooterConveyorCommandedTargetVelocity);
shooterNetworkTable.getEntry("conveyorClampedTargetVelocity").setDouble(shooterConveyorClampedTargetVelocity);
shooterNetworkTable.getEntry("conveyorLeftStatorCurrent").setDouble(leftConveyor.getStatorCurrent().getValueAsDouble());
shooterNetworkTable.getEntry("conveyorRightStatorCurrent").setDouble(rightConveyor.getStatorCurrent().getValueAsDouble());
shooterNetworkTable.getEntry("backboardCurrentRate").setDouble(backboardPosition);
shooterNetworkTable.getEntry("backboardTargetRate").setDouble(backboardSetpointPosition);
shooterNetworkTable.getEntry("backboardOutputVolts").setDouble(backboardOutputVolts);
src/main/java/frc/robot/subsystems/Superstructure.java
+43 -14
View File
@@ -182,10 +182,8 @@ public class Superstructure extends SubsystemBase {
/* ====================== */
public boolean canShoot() {
boolean stationaryGate = !Constants.Superstructure.stationaryGateEnabled || isDriveStationary();
return shooter.atVelocity()
&& drive.isAimed()
&& stationaryGate
&& isBackboardReady();
}
@@ -257,7 +255,7 @@ public class Superstructure extends SubsystemBase {
setSystemState(SystemState.INITIALIZING);
}
conveyor.stop();
stopMainConveyorUnlessTuning();
intakeRoller.stop();
stopFlywheelUnlessTuning();
stopShooterConveyorUnlessTuning();
@@ -266,7 +264,7 @@ public class Superstructure extends SubsystemBase {
private void handleIdle() {
// 安全默认状态：球路不动，intaker 不主动动作，背板保持受控。
conveyor.stop();
stopMainConveyorUnlessTuning();
intakeRoller.stop();
if (!runPostShootIdleAssist()) {
intakeRotater.stop();
@@ -298,13 +296,13 @@ public class Superstructure extends SubsystemBase {
holdBackboardStowedUnlessTuning();
// Intaker 比赛开始后保持下放，收球何时结束由操作员松开按键决定。
intakeRoller.intake();
conveyor.feedToShooter();
intakeFeedMainConveyorUnlessTuning();
setSystemState(SystemState.INTAKING);
}
private void handleAimHub() {
intakeRoller.stop();
conveyor.stop();
stopMainConveyorUnlessTuning();
stopFlywheelUnlessTuning();
stopShooterConveyorUnlessTuning();
holdBackboardStowedUnlessTuning();
@@ -323,8 +321,8 @@ public class Superstructure extends SubsystemBase {
}
private void handlePassBall() {
double targetVelocity = Constants.Superstructure.passBallFlywheelVelocity + flywheelVelocityOffset;
double backboardPosition = Constants.Superstructure.passBallBackboardPosition + backboardPositionOffset;
double targetVelocity = 30;
double backboardPosition = 2000;
handlePreparedFeed(targetVelocity, backboardPosition);
}
@@ -343,27 +341,32 @@ public class Superstructure extends SubsystemBase {
// 避免球接触飞轮导致的掉速中断喂球。
intakeRotater.shootAssist();
intakeRoller.intakeforshoot();
conveyor.feedToShooter();
feedMainConveyorUnlessTuning();
runShooterConveyorVelocityUnlessTuning(Constants.Superstructure.shooterFeedVelocity);
return;
}
// 未开始喂球前，球路保持静止。
conveyor.stop();
stopMainConveyorUnlessTuning();
stopShooterConveyorUnlessTuning();
intakeRoller.stop();
// 门控条件实时刷新：条件回落时状态同步回退，仪表盘能看到卡在哪一关。
if (canShoot()) {
// Keep normal gating, but force the shot if prep takes too long.
if (canShoot() || prepShootFallbackElapsed()) {
setSystemState(SystemState.SHOOTING);
}
}
private boolean prepShootFallbackElapsed() {
return systemState == SystemState.PREP_SHOOT
&& timeInState() >= Constants.Superstructure.prepShootFallbackDelaySeconds;
}
private void handleEject() {
// Eject 反转整条球路，飞轮保持停止。
setSystemState(SystemState.EJECTING);
intakeRoller.outtake();
conveyor.reverse();
reverseMainConveyorUnlessTuning();
runShooterConveyorVelocityUnlessTuning(Constants.Superstructure.shooterReverseVelocity);
stopFlywheelUnlessTuning();
holdBackboardStowedUnlessTuning();
@@ -393,13 +396,37 @@ public class Superstructure extends SubsystemBase {
}
}
private void feedMainConveyorUnlessTuning() {
if (!conveyor.isMainConveyorTuningControlActive()) {
conveyor.feedToShooter();
}
}
private void intakeFeedMainConveyorUnlessTuning() {
if (!conveyor.isMainConveyorTuningControlActive()) {
conveyor.feedForIntake();
}
}
private void reverseMainConveyorUnlessTuning() {
if (!conveyor.isMainConveyorTuningControlActive()) {
conveyor.reverse();
}
}
private void stopMainConveyorUnlessTuning() {
if (!conveyor.isMainConveyorTuningControlActive()) {
conveyor.stop();
}
}
private void handleManual() {
// 手动模式：状态机不再驱动机构，交给现场手动/调参工具；
// 只保持飞轮与喂球停止，避免意外射出。
setSystemState(SystemState.MANUAL_OVERRIDE);
stopFlywheelUnlessTuning();
stopShooterConveyorUnlessTuning();
conveyor.stop();
stopMainConveyorUnlessTuning();
intakeRoller.stop();
}
@@ -441,6 +468,8 @@ public class Superstructure extends SubsystemBase {
table.getEntry("flywheelTuningControlActive").setBoolean(shooter.isFlywheelTuningControlActive());
table.getEntry("shooterConveyorTuningControlActive")
.setBoolean(shooter.isShooterConveyorTuningControlActive());
table.getEntry("mainConveyorTuningControlActive")
.setBoolean(conveyor.isMainConveyorTuningControlActive());
table.getEntry("flywheelVoltageOffset").setDouble(flywheelVelocityOffset * Constants.Shooter.flywheelNominalKv);
table.getEntry("backboardPositionOffset").setDouble(backboardPositionOffset);
}