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src/main/java/frc/robot/controls/DriveControls.java

@@ -146,8 +146,8 @@ public class DriveControls {
 
                 Rotation2d BumpcurrentAngle = drivetrain.getState().Pose.getRotation();
                 double BumpcurrentRad = BumpcurrentAngle.getRadians();
-                double targetA = Math.toRadians(135.0);
-                double targetB = Math.toRadians(-135.0);
+                double targetA = Math.toRadians(45);
+                double targetB = Math.toRadians(-45);
                 // 计算误差
                 double errorA = targetA - BumpcurrentRad;
                 double errorB = targetB - BumpcurrentRad;

src/main/java/frc/robot/subsystems/ShooterSubsystem.java

@@ -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);