From 52727bdcf1af7b8fb6b3745d592e250a7ff228e0 Mon Sep 17 00:00:00 2001 From: OnDYCLaptop Date: Wed, 10 Jun 2026 15:47:48 +0800 Subject: [PATCH] =?UTF-8?q?=E6=94=B9=E4=B8=AA=E5=B0=84=E9=80=9F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/main/java/frc/robot/Constants.java | 8 ++++---- src/main/java/frc/robot/controls/ShooterControls.java | 6 ++++-- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 0d52aaa..fc7cf69 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -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; diff --git a/src/main/java/frc/robot/controls/ShooterControls.java b/src/main/java/frc/robot/controls/ShooterControls.java index fb0cd04..3cde235 100644 --- a/src/main/java/frc/robot/controls/ShooterControls.java +++ b/src/main/java/frc/robot/controls/ShooterControls.java @@ -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) {