admin6494/FRC6494_2026Regional-offseason
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传入了所有场地坐标参数 上层操作手可控制底盘瞄准 传球待测试

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OnDYCLaptop
2026-03-05 12:39:53 +08:00
parent 042d483b16
commit 6d996a35cd
3 changed files with 13 additions and 11 deletions
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src/main/java/frc/robot/Constants.java
+6 -6
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@@ -88,12 +88,12 @@ public final class Constants {
public class Field {
public static final double RedHubPositionX = 11.914;
public static final double RedHubPositionY = 4.034;
public static final double BlueHubPositionX = 0;
public static final double BlueHubPositionY = 0;
public static final double PassingBallPosY1 = 2.51;
public static final double PassingBallPosY2 = 5.556;
public static final double RedPassingBallPosX = 0;
public static final double BluePassingBallPosX = 0;
public static final double BlueHubPositionX = 4.625;
public static final double BlueHubPositionY = 4.034;
public static final double PassingBallPosY1 = 1.405;
public static final double PassingBallPosY2 = 6.664;
public static final double RedPassingBallPosX = 13.355;
public static final double BluePassingBallPosX = 3.184;
}
src/main/java/frc/robot/RobotContainer.java
+7 -2
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@@ -123,11 +123,16 @@ public class RobotContainer {
// controllerlower.leftStick().onTrue(robotStatusManager.setStatusCommand(RobotStatus.AutoAimming));
// controllerlower.leftStick().onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
//双操均可触发autoaimming
Trigger autoAim = controllerupper.rightBumper().or(controllerlower.leftStick());
//双操均可触发autoaimming模式，松开时alltelop
Trigger autoAim = controllerupper.rightBumper().or(controllerlower.rightStick());
autoAim.onTrue(robotStatusManager.setStatusCommand(RobotStatus.AutoAimming));
autoAim.onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
//双操均可触发passingball模式，松开时alltelop
Trigger autoAim2 = controllerupper.leftBumper().or(controllerlower.leftStick());
autoAim2.onTrue(robotStatusManager.setStatusCommand(RobotStatus.PassingBall));
autoAim2.onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
controllerlower.leftTrigger()
.onTrue(robotStatusManager.setStatusCommand(RobotStatus.CrossingTrench))
.onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
src/main/java/frc/robot/controls/ShooterControls.java
-3
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@@ -52,9 +52,6 @@ public class ShooterControls {
if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()<flywheelSpeed*0.7){
conveyorSpeed = 0;
}
// flywheelSpeed = calculateFlywheelSpeedOnlywithOffset(60);
// double flywheelSpeed = calculateFlywheelSpeed(0);
// double BackboardPosition = calculateBackboardPosition(0);
shooterControlTable.getEntry("flywheelTargetSpeed").setDouble(flywheelSpeed);
shooterControlTable.getEntry("conveyerTargetSpeed").setDouble(conveyorSpeed);
shooterControlTable.getEntry("backboardTargetPosition").setDouble(backboardPosition);