admin6494/FRC6494_2026Regional-offseason
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OnDYCLaptop
2026-02-24 15:33:33 +08:00
parent 77cb224773
commit 6668da3462
2 changed files with 3 additions and 3 deletions
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src/main/java/frc/robot/controls/DriveControls.java
+2 -2
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@@ -146,8 +146,8 @@ public class DriveControls {
Rotation2d BumpcurrentAngle = drivetrain.getState().Pose.getRotation(); Rotation2d BumpcurrentAngle = drivetrain.getState().Pose.getRotation();
double BumpcurrentRad = BumpcurrentAngle.getRadians(); double BumpcurrentRad = BumpcurrentAngle.getRadians();
double targetA = Math.toRadians(135.0); double targetA = Math.toRadians(45);
double targetB = Math.toRadians(-135.0); double targetB = Math.toRadians(-45);
// 计算误差 // 计算误差
double errorA = targetA - BumpcurrentRad; double errorA = targetA - BumpcurrentRad;
double errorB = targetB - BumpcurrentRad; double errorB = targetB - BumpcurrentRad;
src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+1 -1
View File
@@ -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 // 使用PID控制器来计算背板的运动速度
double pidOutput = backboardPID.calculate(getBackboardPosition()); 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); shooterNetworkTable.getEntry("backboardPIDOutput").setDouble(pidOutput);
// // 设置背板电机的速度，根据PID输出进行调整 // // 设置背板电机的速度，根据PID输出进行调整
setBackboardSpeedByRPS(pidOutput); setBackboardSpeedByRPS(pidOutput);