From 4c0e2546867df2145604ac525f26fed0a91e96c3 Mon Sep 17 00:00:00 2001
From: OnDYCLaptop <dingdoorfiah@gamil.com>
Date: Fri, 27 Feb 2026 11:53:42 +0800
Subject: [PATCH] =?UTF-8?q?2.25=E7=BB=88?=
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---
 src/main/java/frc/robot/Constants.java                   | 2 +-
 src/main/java/frc/robot/controls/ClimberControls.java    | 4 ++--
 src/main/java/frc/robot/subsystems/ShooterSubsystem.java | 3 ++-
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 7b7cd33..791a6e8 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -115,7 +115,7 @@ public final class Constants {
 
     public static final boolean inverted = false;
 
-    public static final double climbUpTicks = 83; // TODO: 实测后调整
+    public static final double climbUpTicks = 94; // TODO: 实测后调整
     public static final double climbDownTicks = 0; // TODO: 实测后调整
     public static final double holdToleranceRot = 0.5; 
 
diff --git a/src/main/java/frc/robot/controls/ClimberControls.java b/src/main/java/frc/robot/controls/ClimberControls.java
index 119b172..ba01cac 100644
--- a/src/main/java/frc/robot/controls/ClimberControls.java
+++ b/src/main/java/frc/robot/controls/ClimberControls.java
@@ -24,9 +24,9 @@ public class ClimberControls {
         return Commands.run(()->{
             //climber.climbUp();
                 // 优先级：如果同时按，优先上升（你也可以反过来）
-                if (controller.x().getAsBoolean()) {
+                if (controller.y().getAsBoolean()) {
                     climber.climbUp();
-                } else if (controller.y().getAsBoolean()) {
+                } else if (controller.x().getAsBoolean()) {
                     climber.climbDown();
                 } else {
                     // 松开：记录当前位置 + 锁死
diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
index dd7af49..d94f8a5 100644
--- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -115,11 +115,12 @@ public class ShooterSubsystem extends SubsystemBase {
         // 使用PID控制器来计算背板的运动速度
         double pidOutput = backboardPID.calculate(getBackboardPosition());
         pidOutput = Math.max(-Constants.Shooter.backboardSpeedMax, Math.min(Constants.Shooter.backboardSpeedMax, pidOutput)); // 限制输出范围
-        shooterNetworkTable.getEntry("backboardPIDOutput").setDouble(pidOutput);
+        
         if (Math.abs(pidOutput) < 0.8) {
         pidOutput = 0.0;
         }//防止抖动
         // // 设置背板电机的速度，根据PID输出进行调整
+        shooterNetworkTable.getEntry("backboardPIDOutput").setDouble(pidOutput);
         setBackboardSpeedByRPS(pidOutput);
     }
     // 停止所有电机