若自动爬升则手动阶段自动让钩子下降（待测试

2026-03-10 16:30:07 +08:00
parent 8b70832978
commit 50c9af952c
4 changed files with 43 additions and 8 deletions
@@ -56,13 +56,17 @@ import frc.robot.Constants.RobotStatus;
            }, climber));
        }
        public static Command climb_down(ClimberSubsystem climber) {
-            return new RunCommand(() -> {
-                climber.climbDownAuto();  // 控制爬升器下降
-            }, climber).withTimeout(2.0)  //
-            .andThen(new InstantCommand(() -> {
-                climber.holdPosition();  // 停止并锁定当前爬升器位置
-            }, climber));
+            return Commands.sequence(
+                new InstantCommand(climber::markAutoClimbUsedInAuto),
+                new RunCommand(() -> {
+                    climber.climbDownAuto();
+                }, climber).withTimeout(2.0),
+                new InstantCommand(() -> {
+                    climber.holdPosition();
+                }, climber)
+            );
        }
+
        public static Command start_intake(IntakerSubsystem intaker) {
            return new RunCommand(() -> {
                intaker.setIntakerGetterSpeed(Constants.Intaker.IntakeGetterSpeedforAuto);  // 启动吸球