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

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 BlueHubPositionX = 4.625;
-        public static final double BlueHubPositionY = 0;
+        public static final double BlueHubPositionY = 4.034;
-        public static final double PassingBallPosY1 = 2.51;
+        public static final double PassingBallPosY1 = 1.405;
-        public static final double PassingBallPosY2 = 5.556;
+        public static final double PassingBallPosY2 = 6.664;
-        public static final double RedPassingBallPosX = 0;
+        public static final double RedPassingBallPosX = 13.355;
-        public static final double BluePassingBallPosX = 0;
+        public static final double BluePassingBallPosX = 3.184;
     }
     
 

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
+    //双操均可触发autoaimming模式，松开时alltelop
-    Trigger autoAim = controllerupper.rightBumper().or(controllerlower.leftStick());
+    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

@@ -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);