From 4fd6760bedd6a845d984df666cd6a87cb45f9ec4 Mon Sep 17 00:00:00 2001
From: Alyssum-chenyiyi <13162501939@163.com>
Date: Sat, 28 Feb 2026 14:28:31 +0800
Subject: [PATCH] 0227

---
 src/main/java/frc/robot/controls/ShooterControls.java | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/controls/ShooterControls.java b/src/main/java/frc/robot/controls/ShooterControls.java
index d8491fc..7b93dcb 100644
--- a/src/main/java/frc/robot/controls/ShooterControls.java
+++ b/src/main/java/frc/robot/controls/ShooterControls.java
@@ -19,8 +19,8 @@ public class ShooterControls {
     private double backboardPositionOffset = 0.0;
     private NetworkTable shooterControlTable;
     private double conveyorSpeed = 0.0;
-    double flywheelSpeed = 0;
-    double backboardPosition = 0;
+    private double flywheelSpeed = 0;
+    private double backboardPosition = 0;
     private final RobotStatusManager robotStatusManager;
     public ShooterControls(ShooterSubsystem shooterSubsystem, CommandXboxController controller,RobotStatusManager rsm) {
         this.shooterSubsystem = shooterSubsystem;
@@ -37,9 +37,12 @@ public class ShooterControls {
                     break;
                 case AllTelop:
                 case PassingBall:
-                    flywheelSpeed = 0;//todo:实测传球的时候的速度
+                    var xP = shooterSubsystem.getDistance();
+                    //xP = Math.max(1.2, Math.min(4.5, xP));
+                    flywheelSpeed = 0.6956596811733782*xP*xP*xP*xP*xP*xP*xP-14.164408860183267*xP*xP*xP*xP*xP*xP+119.7115375240918*xP*xP*xP*xP*xP-543.0984876677477*xP*xP*xP*xP+1425.1928543240738*xP*xP*xP-2156.199296490315*xP*xP+1736.568139600292*xP-516.097598057351;
+                    
                     flywheelSpeed += flywheelSpeedOffset;
-                    backboardPosition = 0;//todo:实测传球的时候的背板位置
+                    backboardPosition = xP*xP;//todo:实测传球的时候的背板位置 打表
                     backboardPosition += backboardPositionOffset;
                     conveyorSpeed = Constants.Shooter.conveyorSpeed;
                     if (controller.getRightTriggerAxis() < 0.1) {