admin6494/FRC6494_2026Regional-offseason
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Have Climber

Browse Source
This commit is contained in:
OnDYCLaptop
2026-03-15 08:42:33 +08:00
parent be6342b597
commit 6196da8a23
44 changed files with 1644 additions and 439 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc/robot/RobotContainer.java
+8 -17
View File
@@ -58,7 +58,7 @@ public class RobotContainer {
/* 控制封装/日志 */
/* ====================== */
private final DriveControls driveControls = new DriveControls(drivetrain, controllerlower, robotStatusManager );
public 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, shooterSubsystem, controllerupper);
@@ -82,7 +82,6 @@ public class RobotContainer {
configueClimber();
bingdingLED();
configueIntaker();
configureBindings();
Autocommand.preNameCommands(
climberSubsystem,
IntakerSubsystem,
@@ -134,6 +133,12 @@ public class RobotContainer {
// Start：强行使用metaTag2全场定位
controllerlower.start().whileTrue(drivetrain.run(drivetrain::forceUsingLimelightmt2));
controllerlower.a().whileTrue(drivetrain.run(()->{drivetrain.forceUsingLimelightmt2WithllName(Constants.Limelight.LIMELIGHT_NAME_Shooter);
System.out.println("Try using shooter for metatag2");
}));
controllerlower.b().whileTrue(drivetrain.run(()->{drivetrain.forceUsingLimelightmt2WithllName(Constants.Limelight.LIMELIGHT_NAME_Intaker);
System.out.println("Try using intaker for metatag2");
}));
//LM 按下时autoaimming，松开时alltelop
// controllerlower.leftStick().onTrue(robotStatusManager.setStatusCommand(RobotStatus.AutoAimming));
// controllerlower.leftStick().onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
@@ -169,8 +174,7 @@ public class RobotContainer {
controllerupper.povDown().onTrue(Commands.runOnce(() -> shooterControls.adjustBackboardRateOffset(-100)));
controllerupper.back().onTrue(Commands.runOnce(() -> shooterControls.resetOffsets()));
controllerupper.start().onTrue(Commands.runOnce(() -> shooterControls.resetBackboardCommand()));
controllerupper.b().whileTrue(new RunCommand(() -> shooterSubsystem.setConveyorSpeedByRPS(10), shooterSubsystem));
controllerupper.a().whileTrue(new RunCommand(() -> shooterSubsystem.setConveyorSpeedByRPS(-25), shooterSubsystem));
}
/* ====================== */
/* LED 绑定 */
@@ -202,19 +206,6 @@ public class RobotContainer {
controllerupper.a().onTrue(intakerControls.resetIntakerRotaterEncoderCommand(IntakerSubsystem));
}
private void configureBindings() {
teleopStartTrigger.onTrue(handleClimberAtTeleopStartCommand());
}
private Command handleClimberAtTeleopStartCommand() {
return new InstantCommand(() -> {
if (climberSubsystem.wasAutoClimbUsedInAuto()) {
climberSubsystem.climbUp();
climberSubsystem.clearAutoClimbUsedInAutoFlag();
}
}, climberSubsystem);
}
public ClimberSubsystem getClimberSubsystem() {
return climberSubsystem;
}