7.10午

elastic-layout-debug.json

@@ -100,23 +100,6 @@
               "false_icon": "None"
             }
           },
-          {
-            "title": "Shooter At Voltage",
-            "x": 192.0,
-            "y": 128.0,
-            "width": 192.0,
-            "height": 128.0,
-            "type": "Boolean Box",
-            "properties": {
-              "topic": "/Superstructure/shooterAtVoltage",
-              "period": 0.06,
-              "data_type": "boolean",
-              "true_color": 4283215696,
-              "false_color": 4294198070,
-              "true_icon": "None",
-              "false_icon": "None"
-            }
-          },
           {
             "title": "Drive Aimed",
             "x": 384.0,
@@ -292,37 +275,6 @@
               "line_width": 2.0
             }
           },
-          {
-            "title": "Flywheel Target Voltage",
-            "x": 384.0,
-            "y": 0.0,
-            "width": 256.0,
-            "height": 128.0,
-            "type": "Text Display",
-            "properties": {
-              "topic": "/Shooter/flywheelTargetVoltage",
-              "period": 0.06,
-              "data_type": "double",
-              "show_submit_button": false
-            }
-          },
-          {
-            "title": "Flywheel At Voltage",
-            "x": 640.0,
-            "y": 0.0,
-            "width": 256.0,
-            "height": 128.0,
-            "type": "Boolean Box",
-            "properties": {
-              "topic": "/Shooter/flywheelAtVoltage",
-              "period": 0.06,
-              "data_type": "boolean",
-              "true_color": 4283215696,
-              "false_color": 4294198070,
-              "true_icon": "None",
-              "false_icon": "None"
-            }
-          },
           {
             "title": "Flywheel Velocity Difference",
             "x": 384.0,
@@ -1058,33 +1010,6 @@
               "data_type": "boolean"
             }
           },
-          {
-            "title": "Flywheel Run",
-            "x": 128.0,
-            "y": 192.0,
-            "width": 128.0,
-            "height": 128.0,
-            "type": "Toggle Switch",
-            "properties": {
-              "topic": "/Tuning/flywheel/flywheelEnableRunning",
-              "period": 0.06,
-              "data_type": "boolean"
-            }
-          },
-          {
-            "title": "Flywheel Run Volts",
-            "x": 256.0,
-            "y": 192.0,
-            "width": 256.0,
-            "height": 128.0,
-            "type": "Text Display",
-            "properties": {
-              "topic": "/Tuning/flywheel/flywheelRunningVolts",
-              "period": 0.06,
-              "data_type": "double",
-              "show_submit_button": true
-            }
-          },
           {
             "title": "Shooter Conv Enable",
             "x": 0.0,
@@ -1098,33 +1023,6 @@
               "data_type": "boolean"
             }
           },
-          {
-            "title": "Shooter Conv Run",
-            "x": 128.0,
-            "y": 384.0,
-            "width": 128.0,
-            "height": 128.0,
-            "type": "Toggle Switch",
-            "properties": {
-              "topic": "/Tuning/conveyor/conveyorEnableRunning",
-              "period": 0.06,
-              "data_type": "boolean"
-            }
-          },
-          {
-            "title": "Shooter Conv Run Volts",
-            "x": 256.0,
-            "y": 384.0,
-            "width": 256.0,
-            "height": 128.0,
-            "type": "Text Display",
-            "properties": {
-              "topic": "/Tuning/conveyor/conveyorRunningVolts",
-              "period": 0.06,
-              "data_type": "double",
-              "show_submit_button": true
-            }
-          },
           {
             "title": "Backboard Enable",
             "x": 0.0,
@@ -2689,20 +2587,6 @@
               "line_width": 2.0
             }
           },
-          {
-            "title": "Target Volts Estimate",
-            "x": 0.0,
-            "y": 1024.0,
-            "width": 256.0,
-            "height": 128.0,
-            "type": "Text Display",
-            "properties": {
-              "topic": "/Shooter/flywheelTargetVoltage",
-              "period": 0.06,
-              "data_type": "double",
-              "show_submit_button": false
-            }
-          },
           {
             "title": "Left Output Volts",
             "x": 256.0,

src/main/java/frc/robot/Constants.java

@@ -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；
+        // Distance (meters) -> flywheel velocity (rotations per second).
-        // 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);
-        }
-
         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;
     }
 }

src/main/java/frc/robot/RobotContainer.java

@@ -77,9 +77,9 @@ public class RobotContainer {
   private final DriveGainsTuner driveGainsTuner = new DriveGainsTuner(drivetrain);
   private final GameData2026 gameData2026 = new GameData2026();
   private ConfigTalonFXMotorTuner configFlywheelTuner =
-      new ConfigTalonFXMotorTuner(shooterSubsystem.leftFlywheel, "flywheel", Constants.Shooter.flyWheelSlot0Configs);
+      new ConfigTalonFXMotorTuner(shooterSubsystem.leftFlywheel, "flywheel", Constants.Shooter.flyWheelSlot0Configs, false);
   private ConfigTalonFXMotorTuner configConveyorTuner =
-      new ConfigTalonFXMotorTuner(shooterSubsystem.leftConveyor, "conveyor", Constants.Shooter.conveyorSlot0Configs);
+      new ConfigTalonFXMotorTuner(shooterSubsystem.leftConveyor, "conveyor", Constants.Shooter.conveyorSlot0Configs, false);
   private ConfigTalonFXSMotorTuner configBackboardTuner =
       new ConfigTalonFXSMotorTuner(shooterSubsystem.backboardMotor, "backboard", Constants.Shooter.backboardSlot0Configs);
   private ConfigTalonFXMotorTuner configMainConveyorTuner =

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

@@ -6,10 +6,10 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 /**
- * 对现有 LimelightHelpers 的薄只读封装。
+ * Thin read-only wrapper around the existing LimelightHelpers.
  *
- * 本类不做视觉融合，也不控制任何机构；只给 Superstructure 提供稳定的
+ * This subsystem does not fuse vision or command mechanisms; it only gives
- * 目标和距离读取接口。
+ * Superstructure stable target and distance read APIs.
  */
 public class LimelightSubsystem extends SubsystemBase {
     private final String limelightName;
@@ -35,8 +35,8 @@ public class LimelightSubsystem extends SubsystemBase {
     }
 
     public double getDistanceToTarget() {
-        // DriveControls 已经把基于场地位姿计算的距离发布到 AutoControl；
+        // DriveControls publishes the field-pose distance under AutoControl.
-        // 这里复用该值，保留旧定位和目标计算逻辑。
+        // Reuse that value to preserve the existing target calculation path.
         return NetworkTableInstance.getDefault()
             .getTable("AutoControl")
             .getEntry("distanceToHub")
@@ -47,11 +47,6 @@ public class LimelightSubsystem extends SubsystemBase {
         return LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(limelightName).pose;
     }
 
-    public double getShooterVoltageByDistance() {
-        // 查 Constants 里的插值射表；真车试射后往表里加实测点即可。
-        return Constants.Shooter.flywheelVoltageByDistance.get(getDistanceToTarget());
-    }
-
     public double getShooterVelocityByDistance() {
         return Constants.Shooter.flywheelVelocityByDistance.get(getDistanceToTarget());
     }

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

@@ -136,11 +136,6 @@ public class ShooterSubsystem extends SubsystemBase {
         rightFlywheel.getConfigurator().apply(configs);
     }
 
-    public void setFlywheelVoltage(double outputVolts) {
-        double clampedOutputVolts = MathUtil.clamp(outputVolts, -12.0, 12.0);
-        setFlywheelVelocity(clampedOutputVolts / Constants.Shooter.flywheelNominalKv);
-    }
-
     public void setFlywheelVelocity(double targetVelocityRps) {
         double clampedTargetVelocity = MathUtil.clamp(
             targetVelocityRps,
@@ -155,15 +150,6 @@ public class ShooterSubsystem extends SubsystemBase {
         setRightFlywheelFollowLeft();
     }
 
-    public void setFlywheelVoltageByDistance(double distance) {
-        setFlywheelVelocityByDistance(distance);
-    }
-
-    public void setFlywheelVelocityByDistance(double distance) {
-        double targetVelocity = Constants.Shooter.flywheelVelocityByDistance.get(distance);
-        setFlywheelVelocity(targetVelocity);
-    }
-
     public void stopFlywheel() {
         setFlywheelVelocity(0.0);
     }
@@ -181,9 +167,6 @@ public class ShooterSubsystem extends SubsystemBase {
             >= Constants.Shooter.flywheelReadyDelaySeconds;
     }
 
-    public boolean atVoltage() {
-        return atVelocity();
-    }
     public double getLeftFlywheelVelocity() {
         return leftFlywheel.getVelocity().getValueAsDouble();
     }
@@ -208,10 +191,6 @@ public class ShooterSubsystem extends SubsystemBase {
         return Math.abs(flywheelTargetVelocity) - getAverageFlywheelVelocity();
     }
 
-    public double getTargetFlywheelVoltage() {
-        return flywheelTargetVelocity * Constants.Shooter.flywheelNominalKv;
-    }
-
     /* ====================== */
     /*    shooter conveyor     */
     /* ====================== */
@@ -226,11 +205,6 @@ public class ShooterSubsystem extends SubsystemBase {
         setRightConveyorFollowLeft();
     }
 
-    public void runShooterConveyorVoltage(double outputVolts) {
-        double clampedOutputVolts = MathUtil.clamp(outputVolts, -12.0, 12.0);
-        runShooterConveyorVelocity(clampedOutputVolts / Constants.Shooter.shooterConveyorNominalKv);
-    }
-
     public void stopShooterConveyor() {
         runShooterConveyorVelocity(0.0);
     }
@@ -369,17 +343,13 @@ public class ShooterSubsystem extends SubsystemBase {
     }
 
     public boolean isFlywheelTuningControlActive() {
-        boolean voltageTunerEnabled = flywheelTuningTable.getEntry("flywheelEnable").getBoolean(false);
-        boolean voltageTunerRunning = flywheelTuningTable.getEntry("flywheelEnableRunning").getBoolean(false);
         boolean velocityTunerEnabled = flywheelTuningTable.getEntry("flywheelVelocityEnable").getBoolean(false);
-        return (voltageTunerEnabled && voltageTunerRunning) || velocityTunerEnabled;
+        return velocityTunerEnabled;
     }
 
     public boolean isShooterConveyorTuningControlActive() {
-        boolean voltageTunerEnabled = conveyorTuningTable.getEntry("conveyorEnable").getBoolean(false);
-        boolean voltageTunerRunning = conveyorTuningTable.getEntry("conveyorEnableRunning").getBoolean(false);
         boolean velocityTunerEnabled = conveyorTuningTable.getEntry("conveyorVelocityEnable").getBoolean(false);
-        return (voltageTunerEnabled && voltageTunerRunning) || velocityTunerEnabled;
+        return velocityTunerEnabled;
     }
 
     public void resetbackboardencoder() {
@@ -490,9 +460,7 @@ public class ShooterSubsystem extends SubsystemBase {
         shooterNetworkTable.getEntry("flywheelAtVelocity").setBoolean(atVelocity());
         shooterNetworkTable.getEntry("flywheelVelocityTuningActive").setBoolean(flywheelVelocityTuningActive);
         shooterNetworkTable.getEntry("flywheelFollowerOpposed").setBoolean(true);
-        shooterNetworkTable.getEntry("flywheelTargetVoltage").setDouble(getTargetFlywheelVoltage());
         shooterNetworkTable.getEntry("flywheelOutputVolts").setDouble(flywheelOutputVolts);
-        shooterNetworkTable.getEntry("flywheelAtVoltage").setBoolean(atVoltage());
         shooterNetworkTable.getEntry("leftFlywheelOutputVolts").setDouble(leftFlywheel.getMotorVoltage().getValueAsDouble());
         shooterNetworkTable.getEntry("rightFlywheelOutputVolts").setDouble(rightFlywheel.getMotorVoltage().getValueAsDouble());
         shooterNetworkTable.getEntry("leftFlywheelStatorCurrent").setDouble(leftFlywheel.getStatorCurrent().getValueAsDouble());

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

@@ -396,7 +396,6 @@ public class Superstructure extends SubsystemBase {
         table.getEntry("timeInState").setDouble(timeInState());
         table.getEntry("canShoot").setBoolean(canShoot());
         table.getEntry("shooterAtVelocity").setBoolean(shooter.atVelocity());
-        table.getEntry("shooterAtVoltage").setBoolean(shooter.atVoltage());
         table.getEntry("driveAimed").setBoolean(drive.isAimed());
         table.getEntry("driveHeadingError").setDouble(drive.getHeadingError());
         table.getEntry("driveStationary").setBoolean(isDriveStationary());

src/main/java/frc/robot/tuning/ConfigTalonFXMotorTuner.java

@@ -10,6 +10,7 @@ public class ConfigTalonFXMotorTuner {
   private final String motorName;
   private final Slot0Configs motorSlot0Configs;
   private final NetworkTable table;
+  private final boolean voltageRunEnabled;
 
   // ---- Subscribers：读取 Elastic 改过的新值 ----
   private final BooleanSubscriber enableSub;
@@ -27,9 +28,19 @@ public class ConfigTalonFXMotorTuner {
   
   private final VoltageOut voltageRequest = new VoltageOut(0);
   public ConfigTalonFXMotorTuner(TalonFX motor_, String motorName_, Slot0Configs motorSlot0Configs_) {
+    this(motor_, motorName_, motorSlot0Configs_, true);
+  }
+
+  public ConfigTalonFXMotorTuner(
+      TalonFX motor_,
+      String motorName_,
+      Slot0Configs motorSlot0Configs_,
+      boolean voltageRunEnabled_
+  ) {
     this.motor = motor_;
     this.motorName = motorName_;
     this.motorSlot0Configs = motorSlot0Configs_;
+    this.voltageRunEnabled = voltageRunEnabled_;
 
     this.table = NetworkTableInstance.getDefault().getTable("Tuning/" + motorName);
 
@@ -41,8 +52,10 @@ public class ConfigTalonFXMotorTuner {
     table.getDoubleTopic(motorName+"kA").publish().set(motorSlot0Configs.kA);
     table.getDoubleTopic(motorName+"kS").publish().set(motorSlot0Configs.kS);
 
-    table.getBooleanTopic(motorName+"EnableRunning").publish().set(false);;
+    if (voltageRunEnabled) {
-    table.getDoubleTopic(motorName+"RunningVolts").publish().set(0);;
+      table.getBooleanTopic(motorName+"EnableRunning").publish().set(false);;
+      table.getDoubleTopic(motorName+"RunningVolts").publish().set(0);;
+    }
     
     this.enableSub = table.getBooleanTopic(motorName+"Enable").subscribe(false);
     this.KpSub = table.getDoubleTopic(motorName+"kP").subscribe(motorSlot0Configs.kP);
@@ -51,8 +64,12 @@ public class ConfigTalonFXMotorTuner {
     this.KvSub = table.getDoubleTopic(motorName+"kV").subscribe(motorSlot0Configs.kV);
     this.KaSub = table.getDoubleTopic(motorName+"kA").subscribe(motorSlot0Configs.kA);
     this.KsSub = table.getDoubleTopic(motorName+"kS").subscribe(motorSlot0Configs.kS);
-    this.enableRuningSub = table.getBooleanTopic(motorName+"EnableRunning").subscribe(false);
+    this.enableRuningSub = voltageRunEnabled
-    this.runningVolts = table.getDoubleTopic(motorName+"RunningVolts").subscribe(0);
+        ? table.getBooleanTopic(motorName+"EnableRunning").subscribe(false)
+        : null;
+    this.runningVolts = voltageRunEnabled
+        ? table.getDoubleTopic(motorName+"RunningVolts").subscribe(0)
+        : null;
   }
 
   public void periodic(Runnable func) {
@@ -79,7 +96,7 @@ public class ConfigTalonFXMotorTuner {
       }
     }
     
-    if (enableRuningSub.get()) {;
+    if (voltageRunEnabled && enableRuningSub.get()) {;
       double volts = MathUtil.clamp(runningVolts.get(), -12.0, 12.0);
       motor.setControl(voltageRequest.withOutput(volts));
       wasRunning = true;