admin6494/FRC6494_2026Regional-offseason
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改个射速

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OnDYCLaptop
2026-06-10 15:47:48 +08:00
parent 0b6cf55dc0
commit 52727bdcf1
2 changed files with 8 additions and 6 deletions
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src/main/java/frc/robot/Constants.java
+4 -4
View File
@@ -14,8 +14,8 @@ public final class Constants {
public static final double boostDriveScale = 0.25;
public static final double boostTurnScale = 0.30;
public static final double maxLinearSpeedMetersPerSecond = 1.20;
public static final double maxAngularRateRadiansPerSecond = 0.80;
public static final double maxLinearSpeedMetersPerSecond = 2.4;
public static final double maxAngularRateRadiansPerSecond = 1.6;
}
public static final boolean LEDUsing = false;
@@ -29,7 +29,7 @@ public final class Constants {
CrossingTrench
}
public class Shooter {
public static final double conveyorSpeed = 150;
public static final double conveyorSpeed = 80;
public static final double conveyorSpeedForAuto = 10;
public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs()
.withKP(0.0).withKI(0).withKD(0)
@@ -92,7 +92,7 @@ public final class Constants {
public class Limelight {
public static final String LIMELIGHT_NAME_Shooter = "limelight-shooter";
public static final String LIMELIGHT_NAME_Intaker = "limelight-intaker";
public static final Boolean UsingMetaTag2 = true; // 是否使用 MetaTag2（如果你们的 pipeline 配置了这个功能的话）
public static final Boolean UsingMetaTag2 = false; // Use Limelight's own pose/yaw estimate instead of gyro-assisted MegaTag2.
public static final int climbPipelineIndex = 8;
public static final int locatePipelineIndex = 0;
src/main/java/frc/robot/controls/ShooterControls.java
+4 -2
View File
@@ -81,9 +81,11 @@ public class ShooterControls {
case AutoAimming:
var x = shooterSubsystem.getDistanceToHub();
x = Math.max(1.2, Math.min(4.5, x));
flywheelSpeed = -1.4964026859575532*x*x*x*x*x*x*x+29.82445640241506*x*x*x*x*x*x-247.71603153159896*x*x*x*x*x+1108.8727302184625*x*x*x*x-2881.517500617481*x*x*x+4332.05363145275*x*x-3467.2508337871454*x+1192.1508062663759;
//flywheelSpeed = -1.4964026859575532*x*x*x*x*x*x*x+29.82445640241506*x*x*x*x*x*x-247.71603153159896*x*x*x*x*x+1108.8727302184625*x*x*x*x-2881.517500617481*x*x*x+4332.05363145275*x*x-3467.2508337871454*x+1192.1508062663759;
flywheelSpeed = 60;
flywheelSpeed += flywheelSpeedOffset;
backboardPosition = +34.5286998307899*x*x*x*x*x*x*x*x-788.5788623683884*x*x*x*x*x*x*x+7658.073303693148*x*x*x*x*x*x-41191.69338972519*x*x*x*x*x+133870.54588688645*x*x*x*x-268559.6987062158*x*x*x+324254.6530324262*x*x-215015.48893131423*x+59977.46545382827;
//backboardPosition = +34.5286998307899*x*x*x*x*x*x*x*x-788.5788623683884*x*x*x*x*x*x*x+7658.073303693148*x*x*x*x*x*x-41191.69338972519*x*x*x*x*x+133870.54588688645*x*x*x*x-268559.6987062158*x*x*x+324254.6530324262*x*x-215015.48893131423*x+59977.46545382827;
backboardPosition = 500;
backboardPosition += backboardPositionOffset;
conveyorSpeed = Constants.Shooter.conveyorSpeed;
if (controller.getRightTriggerAxis() < 0.1) {