From 83c06bd0e69134d7dff654a0102bcae0d0c921f7 Mon Sep 17 00:00:00 2001 From: OnDYCLaptop Date: Fri, 6 Mar 2026 17:29:43 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E5=BA=95=E7=9B=98=E8=87=AA?= =?UTF-8?q?=E5=8A=A8=E7=9E=84=E5=87=86trench=E5=92=8Cbmp?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/main/java/frc/robot/controls/DriveControls.java | 5 ++++- src/main/java/frc/robot/controls/IntakerControls.java | 1 + .../frc/robot/subsystems/CommandSwerveDrivetrain.java | 9 ++++----- src/main/java/frc/robot/subsystems/IntakerSubsystem.java | 2 +- 4 files changed, 10 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/controls/DriveControls.java b/src/main/java/frc/robot/controls/DriveControls.java index 7958cbd..0bbb085 100644 --- a/src/main/java/frc/robot/controls/DriveControls.java +++ b/src/main/java/frc/robot/controls/DriveControls.java @@ -157,6 +157,7 @@ public class DriveControls { Math.max(Math.abs(raw), 0.4), raw ); + vy = isRedAlliance ? -vy : vy; } autoControlNetworkTable.getEntry("BumpDifference").setDouble(differenceBump); @@ -186,6 +187,7 @@ public class DriveControls { Math.max(Math.abs(raw), 0.4), raw ); + vy = isRedAlliance ? -vy : vy; } autoControlNetworkTable.getEntry("TrenchDifference").setDouble(differenceTrench); Rotation2d currentAngle = drivetrain.getState().Pose.getRotation(); @@ -209,7 +211,8 @@ public class DriveControls { if (fieldCentricEnabled || isAutoLike) { // 自动状态用 BlueAlliance（不翻转），手柄 field-centric 仍用原 fieldCentric（OperatorPerspective） - var chosen = isAutoLike ? fieldCentricAuto : fieldCentric; + //var chosen = isAutoLike ? fieldCentricAuto : fieldCentric; + var chosen = fieldCentric; return chosen .withVelocityX(vx) .withVelocityY(vy) diff --git a/src/main/java/frc/robot/controls/IntakerControls.java b/src/main/java/frc/robot/controls/IntakerControls.java index 2cff233..e456c87 100644 --- a/src/main/java/frc/robot/controls/IntakerControls.java +++ b/src/main/java/frc/robot/controls/IntakerControls.java @@ -75,6 +75,7 @@ public class IntakerControls { double getterspeed = 0; double conveyoyspeedforintake = 15; double statorCurrent = ShooterSubsystem.getConveyorStatorCurrent(); + if (controller.getLeftTriggerAxis() > 0.1) { getterspeed = controller.getLeftTriggerAxis() * Constants.Intaker.IntakeGetterK + Constants.Intaker.Getterminspeed; ShooterSubsystem.setConveyorSpeedByRPS(conveyoyspeedforintake); diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java index 9979ef6..b839316 100644 --- a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java +++ b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java @@ -274,6 +274,10 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su return true; } + public void setLimelightIntakerPipeline(int pipeline){ + LimelightSupplier.setPipeline(pipeline); + } + public String driveToAprilTag(){ //Rotation2d targetHeading = getPose().getRotation(); if(!LimelightSupplier.isTargetVisible() ){ @@ -322,11 +326,6 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su } - positioningNetworkTable.getEntry("interestPointsClimb tx").setDouble(tx); - positioningNetworkTable.getEntry("interestPointsClimb targetTz").setDouble(targetTz); - positioningNetworkTable.getEntry("interestPointsClimb ry").setDouble(ry); - - ChassisSpeeds scaled = new ChassisSpeeds( tx, // X 不变 targetTz, // Y 不变 diff --git a/src/main/java/frc/robot/subsystems/IntakerSubsystem.java b/src/main/java/frc/robot/subsystems/IntakerSubsystem.java index 9fd211f..61f4299 100644 --- a/src/main/java/frc/robot/subsystems/IntakerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakerSubsystem.java @@ -86,6 +86,6 @@ public class IntakerSubsystem extends SubsystemBase{ intakerotater.set(-0.05); } public void IntakerUpNonStop(){ - intakerotater.set(0.2); + intakerotater.set(0.1); } }