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/controls/IntakerControls.java
+53 -44
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@@ -1,9 +1,13 @@
package frc.robot.controls;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.subsystems.IntakerSubsystem;
import frc.robot.Constants;
public class IntakerControls {
private final IntakerSubsystem intakerSubsystem;
@@ -16,56 +20,61 @@ public class IntakerControls {
this.controller = controller;
}
public void configureBindings() {
//B.A：按住下降 + getter转；松开后 rotater保持当前位置，getter继续转
controller.a()
.whileTrue(
Commands.run(() -> {
// rotater下降：范围会被 subsystem 限制
double cur = intakerSubsystem.getIntakerotaterPosition();
intakerSubsystem.setIntakerRotaterPosition(cur - ROTATER_STEP_PER_CYCLE);
// controller.a()
// .whileTrue(
// Commands.run(() -> {
// // rotater下降：范围会被 subsystem 限制
// double cur = intakerSubsystem.getIntakerotaterPosition();
// intakerSubsystem.setIntakerRotaterPosition(cur - ROTATER_STEP_PER_CYCLE);
// getter 开
intakerSubsystem.setIntakeGetterOn(true);
}, intakerSubsystem)
)
.onFalse(
Commands.runOnce(() -> {
// 松：把当前位置作为target保持
double cur = intakerSubsystem.getIntakerotaterPosition();
intakerSubsystem.setIntakerRotaterPosition(cur);
// // getter 开
// intakerSubsystem.setIntakeGetterOn(true);
// }, intakerSubsystem)
// )
// .onFalse(
// Commands.runOnce(() -> {
// // 松：把当前位置作为target保持
// double cur = intakerSubsystem.getIntakerotaterPosition();
// intakerSubsystem.setIntakerRotaterPosition(cur);
// gtter继续转
intakerSubsystem.setIntakeGetterOn(true);
}, intakerSubsystem)
);
// // gtter继续转
// intakerSubsystem.setIntakeGetterOn(true);
// }, intakerSubsystem)
// );
// // === B.B：按住上升+getter停；松开后rotater保持当前位置
// controller.b()
// .whileTrue(
// Commands.run(() -> {
// // rotater升
// double cur = intakerSubsystem.getIntakerotaterPosition();
// intakerSubsystem.setIntakerRotaterPosition(cur + ROTATER_STEP_PER_CYCLE);
// === B.B：按住上升+getter停；松开后rotater保持当前位置
controller.b()
.whileTrue(
Commands.run(() -> {
// rotater升
double cur = intakerSubsystem.getIntakerotaterPosition();
intakerSubsystem.setIntakerRotaterPosition(cur + ROTATER_STEP_PER_CYCLE);
// getter关
intakerSubsystem.setIntakeGetterOn(false);
}, intakerSubsystem)
)
.onFalse(
Commands.runOnce(() -> {
// 松：保持当前位置
double cur = intakerSubsystem.getIntakerotaterPosition();
intakerSubsystem.setIntakerRotaterPosition(cur);
// getter仍然停止
intakerSubsystem.setIntakeGetterOn(false);
}, intakerSubsystem)
);
}
// // getter关
// intakerSubsystem.setIntakeGetterOn(false);
// }, intakerSubsystem)
// )
// .onFalse(
// Commands.runOnce(() -> {
// // 松：保持当前位置
// double cur = intakerSubsystem.getIntakerotaterPosition();
// intakerSubsystem.setIntakerRotaterPosition(cur);
// // getter仍然停止
// intakerSubsystem.setIntakeGetterOn(false);
// }, intakerSubsystem)
// );
public Command defaultIntakerCommand() {
return Commands.none();
return Commands.run(() -> {
double getterspeed = controller.getLeftTriggerAxis() * Constants.Intaker.IntakeGetterK + Constants.Intaker.Getterminspeed;
if (controller.getLeftTriggerAxis() < 0.1) {
getterspeed = 0;
}
intakerSubsystem.setIntakerGetterSpeed(getterspeed);
}, intakerSubsystem);
}
}