From 6d996a35cd1c0cf7b70f954cf799cd176659577e Mon Sep 17 00:00:00 2001 From: OnDYCLaptop Date: Thu, 5 Mar 2026 12:39:53 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BC=A0=E5=85=A5=E4=BA=86=E6=89=80=E6=9C=89?= =?UTF-8?q?=E5=9C=BA=E5=9C=B0=E5=9D=90=E6=A0=87=E5=8F=82=E6=95=B0=20?= =?UTF-8?q?=E4=B8=8A=E5=B1=82=E6=93=8D=E4=BD=9C=E6=89=8B=E5=8F=AF=E6=8E=A7?= =?UTF-8?q?=E5=88=B6=E5=BA=95=E7=9B=98=E7=9E=84=E5=87=86=20=E4=BC=A0?= =?UTF-8?q?=E7=90=83=E5=BE=85=E6=B5=8B=E8=AF=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/main/java/frc/robot/Constants.java | 12 ++++++------ src/main/java/frc/robot/RobotContainer.java | 9 +++++++-- .../java/frc/robot/controls/ShooterControls.java | 3 --- 3 files changed, 13 insertions(+), 11 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 4989896..abab723 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -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; } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 5d1821c..1b6c243 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -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)); diff --git a/src/main/java/frc/robot/controls/ShooterControls.java b/src/main/java/frc/robot/controls/ShooterControls.java index c74d9d8..50fef46 100644 --- a/src/main/java/frc/robot/controls/ShooterControls.java +++ b/src/main/java/frc/robot/controls/ShooterControls.java @@ -52,9 +52,6 @@ public class ShooterControls { if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()