修复底盘自动瞄准trench和bmp

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)

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);

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

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);
     }
 }