2.25初始

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

@@ -53,7 +53,7 @@ public class RobotContainer {
 
   private final DriveControls driveControls = new DriveControls(drivetrain, controller,robotStatusManager );
   private final ShooterControls shooterControls = new ShooterControls(shooterSubsystem, controller,robotStatusManager);
-
+  private final ClimberControls climberControls = new ClimberControls(climberSubsystem, controller);
   private final DriveGainsTuner driveGainsTuner = new DriveGainsTuner(drivetrain);
   private ConfigTalonFXMotorTuner configFlywheelTuner = new ConfigTalonFXMotorTuner(shooterSubsystem.flywheelMotorLeft, "flywheel", Constants.Shooter.flyWheelSlot0Configs);
   private ConfigTalonFXMotorTuner configConveyorTuner = new ConfigTalonFXMotorTuner(shooterSubsystem.conveyorMotor, "conveyor", Constants.Shooter.conveyorSlot0Configs);

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

@@ -116,6 +116,9 @@ public class ShooterSubsystem extends SubsystemBase {
         double pidOutput = backboardPID.calculate(getBackboardPosition());
         pidOutput = Math.max(-Constants.Shooter.backboardSpeedMax, Math.min(Constants.Shooter.backboardSpeedMax, pidOutput)); // 限制输出范围
         shooterNetworkTable.getEntry("backboardPIDOutput").setDouble(pidOutput);
+        if (Math.abs(pidOutput) < 0.8) {
+        pidOutput = 0.0;
+        }//防止抖动
         // // 设置背板电机的速度，根据PID输出进行调整
         setBackboardSpeedByRPS(pidOutput);
     }