admin6494/FRC6494_2026Regional-offseason
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7.10午

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OnDYCLaptop
2026-07-10 11:35:22 +08:00
parent 915b1b1af0
commit 6abdf34cf0
8 changed files with 38 additions and 1766 deletions
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src/main/java/frc/robot/Constants.java
+7 -16
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@@ -11,7 +11,7 @@ public final class Constants {
public static final boolean LEDUsing = false;
public static class Shooter {
// 机构 CAN ID 目前是占位值；季后赛最终接线确认后，只需要改这里。
// Placeholder mechanism CAN IDs; update here after final wiring.
public static final int leftFlywheelID = 38;
public static final int rightFlywheelID = 39;
public static final int leftConveyorID = 40;
@@ -26,16 +26,7 @@ public final class Constants {
public static final double flywheelReadyVelocityTolerance = 2.0;
public static final double flywheelReadyDelaySeconds = 0.5;
// 距离(米) -> 飞轮电压(V) 射表。当前为占位点；
// 真车试射后按实测数据加点即可，查表自动线性插值并在两端取边界值。
public static final InterpolatingDoubleTreeMap flywheelVoltageByDistance = new InterpolatingDoubleTreeMap();
static {
flywheelVoltageByDistance.put(1.2, 2.0);
flywheelVoltageByDistance.put(2.5, 2.1);
flywheelVoltageByDistance.put(3.5, 2.2);
flywheelVoltageByDistance.put(5.0, 2.3);
}
// Distance (meters) -> flywheel velocity (rotations per second).
public static final InterpolatingDoubleTreeMap flywheelVelocityByDistance = new InterpolatingDoubleTreeMap();
static {
flywheelVelocityByDistance.put(1.2, 2.0 / flywheelNominalKv);
@@ -140,7 +131,7 @@ public final class Constants {
}
public static class Intaker {
// 进球机构 CAN ID 同样是占位值，真实 ID 确认后集中在这里修改。
// Placeholder intake CAN IDs; update here after wiring is confirmed.
public static final int leftIntakeRollerID = 20;
public static final int rightIntakeRollerID = 47;
public static final int leftIntakeRotaterID = 48;
@@ -162,7 +153,7 @@ public final class Constants {
.withKV(0.00).withKA(0.00).withKS(0.00);
public static final double IntakeGetterSpeedforAuto = 0.5;
// 这里给出可用的占位值，真车调好位置闭环后再收紧。
// Placeholder values; tighten after the real mechanism is tuned.
}
public static class Conveyor {
@@ -176,7 +167,7 @@ public final class Constants {
}
public static class Superstructure {
// 状态机时间和门控容差。真车基础动作验证后，需要现场调这些值。
// State-machine timing and gate tolerances; tune on the real robot.
public static final double shooterFeedVoltage = Shooter.shooterConveyorFeedVoltage;
public static final double shooterReverseVoltage = Shooter.shooterConveyorReverseVoltage;
public static final double shooterFeedVelocity = Shooter.shooterConveyorFeedVelocity;
@@ -188,10 +179,10 @@ public final class Constants {
public static final double passBallFlywheelVelocity = Shooter.defaultFlywheelVelocity;
public static final double passBallBackboardPosition = 175.0;
// 射击时背板的目标位置（外接编码器计数）。
// Shoot backboard target position in external encoder counts.
public static final double backboardShootPosition = 175.0;
public static final double backboardReadyPositionTolerance = 100.0;
// 射击门控是否要求底盘接近静止。
// Whether the shooting gate requires the drivetrain to be nearly still.
public static final boolean stationaryGateEnabled = true;
}
}