From 711eec2a41aa5363bb8e80bfbc4206ec39f31b66 Mon Sep 17 00:00:00 2001
From: Alyssum-chenyiyi <13162501939@163.com>
Date: Mon, 2 Mar 2026 19:38:42 +0800
Subject: [PATCH] =?UTF-8?q?=E9=98=BF=E5=B7=B4=E9=98=BF=E5=B7=B4=20?=
 =?UTF-8?q?=E6=94=B9=E4=BA=86=E4=B8=80=E4=B8=8Bclimber=E5=88=B03.2?=
 =?UTF-8?q?=E7=9A=84=E7=89=88=E6=9C=AC?=
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0302
---
 src/main/java/frc/robot/Constants.java                   | 1 +
 src/main/java/frc/robot/controls/ClimberControls.java    | 4 ++--
 src/main/java/frc/robot/subsystems/ClimberSubsystem.java | 3 +--
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 2a3f0fb..588f5ae 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -124,6 +124,7 @@ public final class Constants {
 
     public static final double climbUpTicks = 94; // TODO: 实测后调整
     public static final double climbDownTicks = 0; // TODO: 实测后调整
+    public static final double climbDownVelocity = -200;
     public static final double holdToleranceRot = 0.5; 
     public static final double deltaDownTicks = 1;
 
diff --git a/src/main/java/frc/robot/controls/ClimberControls.java b/src/main/java/frc/robot/controls/ClimberControls.java
index 8040e04..2827ba2 100644
--- a/src/main/java/frc/robot/controls/ClimberControls.java
+++ b/src/main/java/frc/robot/controls/ClimberControls.java
@@ -25,12 +25,12 @@ public class ClimberControls {
             //climber.climbUp();
                 // 优先级：如果同时按，优先上升（你也可以反过来）
                 if(controller.y().getAsBoolean()&&controller.x().getAsBoolean()){
-                    climber.zeroEncoder();
+                    climber.climbDownNonStop();
                 }
                 else if (controller.y().getAsBoolean()) {
                     climber.climbUp();
                 } else if (controller.x().getAsBoolean()) {
-                    climber.climbDownNonStop();
+                    climber.climbDown();
                 } else {
                     // 松开：记录当前位置 + 锁死
                     climber.captureHoldPosition();
diff --git a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
index 76e2531..f054a7f 100644
--- a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
@@ -73,8 +73,7 @@ public class ClimberSubsystem extends SubsystemBase {
         
     }
     public void climbDownNonStop(){
-        deltaPositionTicks = Constants.Climber.deltaDownTicks;  
-        climberMotor.setControl(positionHoldRequest.withPosition(targetPositionTicks-deltaPositionTicks));
+        climberMotor.setControl(velocityRequest.withVelocity(Constants.Climber.climbDownVelocity));
     }
 
     public void captureHoldPosition() {