1

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

@@ -78,18 +78,9 @@ public final class Constants {
         public static final String LIMELIGHT_NAME_Shooter = "limelight-shooter";
         public static final String LIMELIGHT_NAME_Intaker = "limelight-intaker";
         public static final Boolean UsingMetaTag2 = true;
-<<<<<<< HEAD
-        public static final int Pipeline = 1;
-        public static final double TXDeadHand = 0.5;
-        public static final double TZDeadHand = 0.5;
-        public static final double AutoClimbAlignSpeed = 0.1;
-        public static final double AutoClimbAlignTolerance = 0.1;
-        public static final double AutoClimbmaxAngularVelocity = 0.1;
-=======
         public static final double AutoClimbAlignSpeed = 0.5;//等查资料
         public static final double AutoClimbAlignTolerance = 0.1;//？
         public static final double AutoClimbmaxAngularVelocity  = 0.5;//等查资料
->>>>>>> a8acbce9dc302adc52e28e6f8c205677f50ea20e
     }
 
     public class Field {

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

@@ -144,11 +144,6 @@ public class RobotContainer {
     controllerlower.a()
     .onTrue(robotStatusManager.setStatusCommand(RobotStatus.Climbing))
     .onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
-<<<<<<< HEAD
-=======
-
-
->>>>>>> a8acbce9dc302adc52e28e6f8c205677f50ea20e
   }
 
   private void configueShooter(){

src/main/java/frc/robot/controls/ShooterControls.java

@@ -76,9 +76,9 @@ public class ShooterControls {
                         flywheelSpeed = 0;
                         conveyorSpeed = 0;
                     }
-                    if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()<flywheelSpeed*0.9){
-                        conveyorSpeed = 0;
-                    }
+                    // if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()<flywheelSpeed*0.7){
+                    //     conveyorSpeed = 0;
+                    // }
                     shooterControlTable.getEntry("flywheelTargetSpeed").setDouble(flywheelSpeed);
                     shooterControlTable.getEntry("conveyerTargetSpeed").setDouble(conveyorSpeed);
                     shooterControlTable.getEntry("backboardTargetPosition").setDouble(backboardPosition);

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

@@ -131,14 +131,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         ); 
     }
 
-<<<<<<< HEAD
-=======
-    
-
-
-
-        
->>>>>>> a8acbce9dc302adc52e28e6f8c205677f50ea20e
     private static final double kMaxVisionJumpMeters = 1.0;
     private static final double kMaxOmegaDegPerSec = 360.0;
 
@@ -282,10 +274,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
 
         return true;
     }
-<<<<<<< HEAD
-=======
-
->>>>>>> a8acbce9dc302adc52e28e6f8c205677f50ea20e
     public String driveToAprilTag(){
         //Rotation2d targetHeading = getPose().getRotation();
         if(!LimelightSupplier.isTargetVisible() ){
@@ -296,18 +284,12 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         for(int id : new int[]{16,32}){
             if(id == trueId){
                 ifRightTag = true;
-<<<<<<< HEAD
                 System.out.println("Target get.");
-=======
->>>>>>> a8acbce9dc302adc52e28e6f8c205677f50ea20e
                 break;
             }
         }
         if(!ifRightTag){
-<<<<<<< HEAD
             System.out.println("No Target.");
-=======
->>>>>>> a8acbce9dc302adc52e28e6f8c205677f50ea20e
             return "No Target";
         }
         double tx = LimelightSupplier.getTX() ;

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

@@ -84,20 +84,7 @@ public class LimelightSupplier extends SubsystemBase {
         SmartDashboard.putString("LimelightPipeType", LimelightHelpers.getCurrentPipelineType(Constants.Limelight.LIMELIGHT_NAME_Intaker));
         if (isTargetVisible()){
             SmartDashboard.putString("LimelightTargetVisible", "YES");
-<<<<<<< HEAD
-            // SmartDashboard.putNumber("LimelightTX", getTX());
-            // SmartDashboard.putNumber("LimelightTY", getTY());
             SmartDashboard.putNumber("LimelightTA", getTA());
-            // double[] targetPose = getTargetPose();
-            // String s = "";
-            // for(double x : targetPose){
-            //     s += Double.toString(x);
-            //     s += " ";
-            // }
-            // SmartDashboard.putString("LimeLightTP", s);
-=======
-            SmartDashboard.putNumber("LimelightTA", getTA());
->>>>>>> a8acbce9dc302adc52e28e6f8c205677f50ea20e
             SmartDashboard.putNumber("TargetRY", getTargetRotationY());
             SmartDashboard.putNumber("TargetTX", getTX());
             SmartDashboard.putNumber("TargetTZ", getTargetTZ());