2.25终

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; 
 

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

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