若自动爬升 则手动阶段自动让钩子下降（待测试

src/main/java/frc/robot/RobotContainer.java

@@ -70,6 +70,7 @@ public class RobotContainer {
   private final SendableChooser<Command> autoChooser;
   
   private final Trigger enableTrigger = new Trigger(DriverStation::isEnabled);
+  private final Trigger teleopStartTrigger = new Trigger(DriverStation::isTeleopEnabled);
 
   
   public RobotContainer() {
@@ -90,6 +91,7 @@ public class RobotContainer {
     configueClimber();
     bingdingLED();
     configueIntaker();
+    configureBindings();
   }
 
   /* ====================== */
@@ -200,4 +202,21 @@ public class RobotContainer {
     controllerupper.a().onTrue(intakerControls.resetIntakerRotaterEncoderCommand(IntakerSubsystem));
   }
 
+  private void configureBindings() {
+        teleopStartTrigger.onTrue(handleClimberAtTeleopStartCommand());
+    }
+
+  private Command handleClimberAtTeleopStartCommand() {
+        return new InstantCommand(() -> {
+            if (climberSubsystem.wasAutoClimbUsedInAuto()) {
+                climberSubsystem.climbUp();
+                climberSubsystem.clearAutoClimbUsedInAutoFlag();
+            }
+        }, climberSubsystem);
+    }
+
+    public ClimberSubsystem getClimberSubsystem() {
+        return climberSubsystem;
+    }
+
 }

src/main/java/frc/robot/controls/Autocommand.java

@@ -56,13 +56,17 @@ import frc.robot.Constants.RobotStatus;
             }, climber));
         }
         public static Command climb_down(ClimberSubsystem climber) {
-            return new RunCommand(() -> {
+            return Commands.sequence(
-                climber.climbDownAuto();  // 控制爬升器下降
+                new InstantCommand(climber::markAutoClimbUsedInAuto),
-            }, climber).withTimeout(2.0)  //
+                new RunCommand(() -> {
-            .andThen(new InstantCommand(() -> {
+                    climber.climbDownAuto();
-                climber.holdPosition();  // 停止并锁定当前爬升器位置
+                }, climber).withTimeout(2.0),
-            }, climber));
+                new InstantCommand(() -> {
+                    climber.holdPosition();
+                }, climber)
+            );
         }
+
         public static Command start_intake(IntakerSubsystem intaker) {
             return new RunCommand(() -> {
                 intaker.setIntakerGetterSpeed(Constants.Intaker.IntakeGetterSpeedforAuto);  // 启动吸球

src/main/java/frc/robot/controls/ClimberControls.java

@@ -58,7 +58,5 @@ public class ClimberControls {
     public Command resetClimberEncoderCommand(ClimberSubsystem climber) {
         return Commands.runOnce(climber::zeroEncoder, climber);
     }
-
-    
     
 }

src/main/java/frc/robot/subsystems/ClimberSubsystem.java

@@ -16,6 +16,8 @@ import frc.robot.Constants;
 
 public class ClimberSubsystem extends SubsystemBase {
 
+    private boolean autoClimbUsedInAuto = false;
+
     private final TalonFX climberMotor;
     private double targetPositionTicks;
 
@@ -100,6 +102,18 @@ public class ClimberSubsystem extends SubsystemBase {
         climberMotor.set(0);
     }
 
+    public void markAutoClimbUsedInAuto() {
+        autoClimbUsedInAuto = true;
+    }
+
+    public boolean wasAutoClimbUsedInAuto() {
+        return autoClimbUsedInAuto;
+    }
+
+    public void clearAutoClimbUsedInAutoFlag() {
+        autoClimbUsedInAuto = false;
+    }
+
     @Override
     public void periodic() {
         climberTable.getEntry("velocityRps").setDouble(getVelocityRps());