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/ShooterControls.java
+4 -69
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@@ -110,8 +110,6 @@ public class ShooterControls {
break;
}
}, shooterSubsystem);
}
@@ -145,73 +143,6 @@ public class ShooterControls {
shooterSubsystem.backboardPID.reset(0);}, shooterSubsystem);
}
//打表参数
// private static final double[][] FLYWHEEL_TABLE = {
// {1.5, 0.42},
// {2.0, 0.46},
// {2.5, 0.51},
// {3.0, 0.57},
// {3.5, 0.64},
// {4.0, 0.72}
// };
// //线性插值函数
// private static double lerp(double x0, double y0, double x1, double y1, double x) {
// if (Math.abs(x1 - x0) < 1e-9) {
// return y0;
// }
// double t = (x - x0) / (x1 - x0);
// return y0 + t * (y1 - y0);
// }
// private double calculateFlywheelSpeedOnlywithOffset(double defaultSpeed) {
// return defaultSpeed + flywheelSpeedOffset;
// }
// private double calculateBackboardPositionOnlywithOffset(double defaultPosition) {
// return defaultPosition + backboardPositionOffset;
// }
// private double calculateFlywheelSpeed(double distance) {
// // 小于最小距离：用第一个点
// if (distance <= FLYWHEEL_TABLE[0][0]) {
// return FLYWHEEL_TABLE[0][1] + flywheelSpeedOffset;
// }
// // 大于最大距离：用最后一个点
// int last = FLYWHEEL_TABLE.length - 1;
// if (distance >= FLYWHEEL_TABLE[last][0]) {
// return FLYWHEEL_TABLE[last][1] + flywheelSpeedOffset;
// }
// // 查找区间并插值
// for (int i = 0; i < FLYWHEEL_TABLE.length - 1; i++) {
// double d0 = FLYWHEEL_TABLE[i][0];
// double s0 = FLYWHEEL_TABLE[i][1];
// double d1 = FLYWHEEL_TABLE[i + 1][0];
// double s1 = FLYWHEEL_TABLE[i + 1][1];
// if (distance >= d0 && distance <= d1) {
// return lerp(d0, s0, d1, s1, distance) + flywheelSpeedOffset;
// }
// }
// return 0;
// }
// private double calculateBackboardPosition(double distance) {
// double BackboardPosition;
// // 距离阈值（单位自己按distance进行修改）
// final double DISTANCE_NEAR = 2.0; // 近距离阈值
// final double DISTANCE_MID = 4.0; // 中距离阈值
// if (distance < DISTANCE_NEAR) {
// BackboardPosition = Constants.ShooterCalculation.positionNear;
// }
// else if (distance < DISTANCE_MID) {
// BackboardPosition = Constants.ShooterCalculation.positionMid;
// }
// else {
// BackboardPosition = Constants.ShooterCalculation.postionFar;
// }
// BackboardPosition += backboardPositionOffset;
// return BackboardPosition;
// }
public void adjustFlywheelSpeedOffset(double offset) {
flywheelSpeedOffset += offset;
}
@@ -219,4 +150,8 @@ public class ShooterControls {
public void adjustBackboardRateOffset(double offset) {
backboardPositionOffset += offset;
}
public void resetOffsets(){
flywheelSpeedOffset = 0.0;
backboardPositionOffset = 0.0;
}
}