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2026-02-24 15:33:33 +08:00
parent 77cb224773
commit 6668da3462
2 changed files with 3 additions and 3 deletions
@@ -114,7 +114,7 @@ public class ShooterSubsystem extends SubsystemBase {

        // 使用PID控制器来计算背板的运动速度
        double pidOutput = backboardPID.calculate(getBackboardPosition());
-        pidOutput = Math.max(-Constants.Shooter.backboardSpeedMax, Math.min(Constants.Shooter.backboardSpeedMax, pidOutput)); // 限制输出范围在-1到1之间
+        pidOutput = Math.max(-Constants.Shooter.backboardSpeedMax, Math.min(Constants.Shooter.backboardSpeedMax, pidOutput)); // 限制输出范围
        shooterNetworkTable.getEntry("backboardPIDOutput").setDouble(pidOutput);
        // // 设置背板电机的速度，根据PID输出进行调整
        setBackboardSpeedByRPS(pidOutput);