自动2.0

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

src/main/deploy/pathplanner/autos/8 Balls Auto Middle Start Point.auto

@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "redBackAndShoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/8 Balls and Climb Middle Start.auto

@@ -0,0 +1,37 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "redBackAndShoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Climb Path step1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Climb Path step2"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Depot Auto.auto

@@ -0,0 +1,88 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "intaker_down"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "redDepotPath"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "start_intake_timelimit"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "start_intake_timelimit"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "depotIntakePath"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "intaker_up"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "depotShootPath"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Line.auto

@@ -7,7 +7,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Line"
+            "pathName": "Climb Path step2"
           }
         }
       ]

src/main/deploy/pathplanner/autos/LineGoAndBack.auto

@@ -7,7 +7,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Line"
+            "pathName": "Climb Path step2"
           }
         },
         {

src/main/deploy/pathplanner/autos/New Auto.auto

@@ -1,12 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": []
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/paths/Climb Path step1.path

@@ -0,0 +1,70 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 13.59,
+        "y": 4.12
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 14.266378040870812,
+        "y": 3.6432882001482505
+      },
+      "isLocked": true,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 14.567,
+        "y": 3.3650694444444444
+      },
+      "prevControl": {
+        "x": 14.336543591648573,
+        "y": 3.4619706510920394
+      },
+      "nextControl": {
+        "x": 14.797456408351428,
+        "y": 3.2681682377968495
+      },
+      "isLocked": true,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 15.9,
+        "y": 3.365
+      },
+      "prevControl": {
+        "x": 15.652649792454762,
+        "y": 3.401302545741686
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.5,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Climb Path step2.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 15.9,
+        "y": 3.365
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 15.650000000000002,
+        "y": 3.365
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 15.467,
+        "y": 3.365
+      },
+      "prevControl": {
+        "x": 15.935706120733446,
+        "y": 3.365
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 0.5,
+    "maxAcceleration": 1.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/depotIntakePath.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 15.4,
+        "y": 2.1
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 15.65,
+        "y": 2.1
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 16.0,
+        "y": 2.1
+      },
+      "prevControl": {
+        "x": 15.75,
+        "y": 2.1
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 0.5,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/depotShootPath.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 14.314,
+        "x": 15.7,
-        "y": 4.15
+        "y": 2.1
       },
       "prevControl": null,
       "nextControl": {
-        "x": 14.299415121255347,
+        "x": 16.145956799790877,
-        "y": 4.61077032810271
+        "y": 1.9416406158462824
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 14.314,
+        "x": 13.5,
-        "y": 6.668017118402283
+        "y": 4.0
       },
       "prevControl": {
-        "x": 14.247660485021397,
+        "x": 13.28182215800934,
-        "y": 6.305734664764623
+        "y": 4.126069541450674
       },
       "nextControl": null,
       "isLocked": false,

src/main/deploy/pathplanner/paths/redBackAndShoot.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 13.01022182786158,
+        "y": 4.119503105590061
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 13.865906250551847,
+        "y": 4.119503105590061
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 13.59,
+        "y": 4.12
+      },
+      "prevControl": {
+        "x": 13.321071353115471,
+        "y": 4.12
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.5,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/redDepotPath.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 13.0,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 14.000000000000002,
+        "y": 4.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 15.400452528841061,
+        "y": 2.1
+      },
+      "prevControl": {
+        "x": 14.400452528841061,
+        "y": 2.1
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.5,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}

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

@@ -31,6 +31,7 @@ import frc.robot.Constants.RobotStatus;
         NamedCommands.registerCommand("climb_up", climb_up(climber));
         NamedCommands.registerCommand("climb_down", climb_down(climber));
         NamedCommands.registerCommand("start_intake", start_intake(intaker));
+        NamedCommands.registerCommand("start_intake_timelimit", start_intake_timelimit(intaker));
         NamedCommands.registerCommand("stop_intake", stop_intake(intaker));
         NamedCommands.registerCommand("intaker_down", intaker_down(intaker));
         NamedCommands.registerCommand("intaker_up", intaker_up(intaker));
@@ -55,26 +56,33 @@ import frc.robot.Constants.RobotStatus;
             }, climber));
         }
         public static Command start_intake(IntakerSubsystem intaker) {
-            return new InstantCommand(() -> {
+            return new RunCommand(() -> {
                 intaker.setIntakerGetterSpeed(Constants.Intaker.IntakeGetterSpeedforAuto);  // 启动吸球
             }, intaker);
         }
+        public static Command start_intake_timelimit(IntakerSubsystem intaker) {
+            return new RunCommand(() -> {
+                intaker.setIntakerGetterSpeed(Constants.Intaker.IntakeGetterSpeedforAuto);  // 吸球机构下降
+            }, intaker).withTimeout(3).andThen(new InstantCommand(() -> {
+                intaker.setIntakerGetterSpeed(0);  // 停止旋转
+            }, intaker));
+        }
         public static Command stop_intake(IntakerSubsystem intaker) {
             return new InstantCommand(() -> {
                 intaker.setIntakerGetterSpeed(0);  // 停止吸球
             }, intaker);
         }
         public static Command intaker_down(IntakerSubsystem intaker) {
-            return new InstantCommand(() -> {
+            return new RunCommand(() -> {
                 intaker.IntakerDownNonStop();  // 吸球机构下降
-            }, intaker).withTimeout(0.5).andThen(new InstantCommand(() -> {
+            }, intaker).withTimeout(1.0).andThen(new InstantCommand(() -> {
-                intaker.stopIntakerotater();;  // 停止旋转
+                intaker.stopIntakerotater();  // 停止旋转
             }, intaker));
         }
         public static Command intaker_up(IntakerSubsystem intaker) {
             return new InstantCommand(() -> {
                 intaker.IntakerUpNonStop();  // 吸球机构上升
-            }, intaker).withTimeout(0.5).andThen(new InstantCommand(() -> {
+            }, intaker).withTimeout(0.8).andThen(new InstantCommand(() -> {
                 intaker.stopIntakerotater();;  // 停止旋转
             }, intaker));
         }
@@ -95,14 +103,26 @@ import frc.robot.Constants.RobotStatus;
      }
 
         public static Command shoot(ShooterSubsystem shooter) {
-            return new InstantCommand(() -> {
+            return new RunCommand(() -> {
-                shooter.setFlywheelSpeedByRPS(60);
+                shooter.setFlywheelSpeedByRPS(64);
-                shooter.setBackboardPosition(200);  // 设置自动射击转速
+                shooter.setBackboardPosition(175);  // 设置自动射击转速
-            }, shooter).withTimeout(1.0).andThen(new InstantCommand(() -> {
+                if(shooter.isBackboardAtTarget()){
+                        shooter.backboardMotor.set(0);
+                    }else{
+                        shooter.outputBackboard();
+                    }  
+            }, shooter).withTimeout(1.0).andThen(new RunCommand(() -> {
+                shooter.setFlywheelSpeedByRPS(64);
+                shooter.setBackboardPosition(175);
+                if(shooter.isBackboardAtTarget()){
+                        shooter.backboardMotor.set(0);
+                    }else{
+                        shooter.outputBackboard();
+                    }  
                 shooter.setConveyorSpeedByRPS(25);
-            }, shooter).withTimeout(5.0).andThen(new InstantCommand(() -> {
+            }, shooter).withTimeout(3.0).andThen(new InstantCommand(() -> {
                 shooter.setFlywheelSpeedByRPS(0);  // 停止射击
-                shooter.setBackboardPosition(0);  // 恢复背板位置
+                //shooter.setBackboardPosition(0);  // 恢复背板位置
                 shooter.setConveyorSpeedByRPS(0);  // 停止输送
             }, shooter)));
     

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

@@ -42,6 +42,8 @@ public class DriveControls {
     // 加速模式比例（按住 RB）
     private double boostDriveScale = 1.0;
     private double boostTurnScale  = 1.0;
+    //autoaim模式
+    private double slowDriveScale =0.1;
 
     private boolean boostEnabled = false;
 
@@ -142,6 +144,8 @@ public class DriveControls {
                 LimelightSupplier.setPipeline(Constants.Limelight.locatePipelineIndex);
                 vomega = calculateRotationSpeedFromRotationAngle(distanceAndRotation[1]);
                 autoControlNetworkTable.getEntry("autoRotationRate").setDouble(vomega);
+                vx = -driver.getLeftY() * maxSpeed * slowDriveScale;
+                vy = -driver.getLeftX() * maxSpeed * slowDriveScale;
                 break;
             case AllTelop:
                 autoControlNetworkTable.getEntry("autoRotationRate").setDouble(Double.NaN);