2.25初始

2026-02-25 16:38:47 +08:00
parent b61b0d78b2
commit 5e85e5430e
4 changed files with 17 additions and 2 deletions
@@ -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);
    }