admin6494/FRC6494_2026Regional-offseason
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双手柄版本

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OnDYCLaptop
2026-03-02 14:35:18 +08:00
parent 06340c5724
commit 5f3452e091
8 changed files with 106 additions and 182 deletions
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src/main/java/frc/robot/RobotContainer.java
+23 -16
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@@ -14,9 +14,11 @@ import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.robot.Constants.RobotStatus;
import frc.robot.controls.DriveControls;
import frc.robot.controls.IntakerControls;
import frc.robot.controls.ShooterControls;
import frc.robot.generated.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.IntakerSubsystem;
import frc.robot.subsystems.LEDSubsystem;
import frc.robot.subsystems.ShooterSubsystem;
import frc.robot.tuning.ConfigTalonFXMotorTuner;
@@ -32,7 +34,8 @@ public class RobotContainer {
/* ====================== */
// 只使用一个 Xbox 手柄（端口 0）
private final CommandXboxController controller = new CommandXboxController(0);
private final CommandXboxController controllerlower = new CommandXboxController(0);
private final CommandXboxController controllerupper = new CommandXboxController(1);
/* ====================== */
/* 子系统 */
@@ -42,6 +45,7 @@ public class RobotContainer {
public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
public final ClimberSubsystem climberSubsystem = new ClimberSubsystem();
public final ShooterSubsystem shooterSubsystem = new ShooterSubsystem();
public final IntakerSubsystem IntakerSubsystem = new IntakerSubsystem();
// LED 子系统
private final LEDSubsystem leds = new LEDSubsystem(0, 72 ,0); // 总长度=72+72
@@ -51,9 +55,10 @@ public class RobotContainer {
/* 控制封装/日志 */
/* ====================== */
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 DriveControls driveControls = new DriveControls(drivetrain, controllerlower, robotStatusManager );
private final ShooterControls shooterControls = new ShooterControls(shooterSubsystem, controllerupper,robotStatusManager);
private final ClimberControls climberControls = new ClimberControls(climberSubsystem, controllerupper);
private final IntakerControls intakerControls = new IntakerControls(IntakerSubsystem, controllerupper);
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);
@@ -106,30 +111,32 @@ public class RobotContainer {
// .onFalse(Commands.runOnce(() -> driveControls.setBoostEnabled(false)));
// Back：重置场地坐标系角度
controller.back().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric));
controllerlower.back().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric));
// Start：强行使用metaTag2全场定位
controller.start().whileTrue(drivetrain.run(drivetrain::forceUsingLimelightMT2));
controllerlower.start().whileTrue(drivetrain.run(drivetrain::forceUsingLimelightMT2));
//LM 按下时使用机器人坐标系
controller.leftStick().onTrue(robotStatusManager.setStatusCommand(RobotStatus.AutoAimming));
controller.leftStick().onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
//controllerlower.leftStick().onTrue(robotStatusManager.setStatusCommand(RobotStatus.AutoAimming));
//controllerlower.leftStick().onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
controller.rightStick().and(controller.leftBumper())
.onTrue(robotStatusManager.setStatusCommand(RobotStatus.CrossingBump))
controllerlower.leftTrigger()
.onTrue(robotStatusManager.setStatusCommand(RobotStatus.CrossingTrench))
.onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
controller.rightStick().and(controller.rightBumper())
.onTrue(robotStatusManager.setStatusCommand(RobotStatus.CrossingTrench))
controllerlower.rightTrigger()
.onTrue(robotStatusManager.setStatusCommand(RobotStatus.CrossingBump))
.onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
}
private void configueShooter(){
shooterSubsystem.setDefaultCommand(shooterControls.defaultShooterCommand());
controller.povLeft().onTrue(Commands.runOnce(() -> shooterControls.adjustFlywheelSpeedOffset(-1)));
controller.povRight().onTrue(Commands.runOnce(() -> shooterControls.adjustFlywheelSpeedOffset(1)));
controller.povUp().onTrue(Commands.runOnce(() -> shooterControls.adjustBackboardRateOffset(100)));
controller.povDown().onTrue(Commands.runOnce(() -> shooterControls.adjustBackboardRateOffset(-100)));
controllerupper.povLeft().onTrue(Commands.runOnce(() -> shooterControls.adjustFlywheelSpeedOffset(-1)));
controllerupper.povRight().onTrue(Commands.runOnce(() -> shooterControls.adjustFlywheelSpeedOffset(1)));
controllerupper.povUp().onTrue(Commands.runOnce(() -> shooterControls.adjustBackboardRateOffset(100)));
controllerupper.povDown().onTrue(Commands.runOnce(() -> shooterControls.adjustBackboardRateOffset(-100)));
controllerupper.back().onTrue(Commands.runOnce(() -> shooterControls.resetOffsets()));
controllerupper.start().onTrue(Commands.runOnce(() -> shooterControls.resetBackboardCommand()));
}
/* ====================== */
/* LED 绑定 */