admin6494/FRC6494_2026Regional-offseason
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OnDYCLaptop
2026-07-09 20:12:25 +08:00
parent 914584b71c
commit 915b1b1af0
10 changed files with 1193 additions and 131 deletions
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src/main/java/frc/robot/Constants.java
+36 -13
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@@ -18,30 +18,52 @@ public final class Constants {
public static final int rightConveyorID = 37;
public static final int backboardMotorID = 44;
public static final double flywheelNominalKv = 0.12;
public static final double defaultFlywheelVoltage = 3.34;
public static final double flywheelReadyVoltageThreshold = 1.0;
public static final double defaultFlywheelVelocity = defaultFlywheelVoltage / flywheelNominalKv;
public static final double flywheelMaxVelocity = 120.0;
public static final double flywheelReadyVelocityThreshold = 5.0;
public static final double flywheelReadyVelocityTolerance = 2.0;
public static final double flywheelReadyDelaySeconds = 0.5;
// 距离(米) -> 飞轮电压(V) 射表。当前为占位点；
// 真车试射后按实测数据加点即可，查表自动线性插值并在两端取边界值。
public static final InterpolatingDoubleTreeMap flywheelVoltageByDistance = new InterpolatingDoubleTreeMap();
static {
flywheelVoltageByDistance.put(1.2, 5.82);
flywheelVoltageByDistance.put(2.5, 6.34);
flywheelVoltageByDistance.put(3.5, 6.73);
flywheelVoltageByDistance.put(5.0, 7.33);
flywheelVoltageByDistance.put(1.2, 2.0);
flywheelVoltageByDistance.put(2.5, 2.1);
flywheelVoltageByDistance.put(3.5, 2.2);
flywheelVoltageByDistance.put(5.0, 2.3);
}
public static final InterpolatingDoubleTreeMap flywheelVelocityByDistance = new InterpolatingDoubleTreeMap();
static {
flywheelVelocityByDistance.put(1.2, 2.0 / flywheelNominalKv);
flywheelVelocityByDistance.put(2.5, 2.1 / flywheelNominalKv);
flywheelVelocityByDistance.put(3.5, 2.2 / flywheelNominalKv);
flywheelVelocityByDistance.put(5.0, 2.3 / flywheelNominalKv);
}
public static final double shooterConveyorFeedVoltage = 3.0;
public static final double shooterConveyorReverseVoltage = -2.0;
public static final double shooterConveyorNominalKv = 0.125;
public static final double shooterConveyorMaxVelocity = 12.0 / shooterConveyorNominalKv;
public static final double shooterConveyorFeedVelocity =
shooterConveyorFeedVoltage / shooterConveyorNominalKv;
public static final double shooterConveyorReverseVelocity =
shooterConveyorReverseVoltage / shooterConveyorNominalKv;
public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs()
.withKP(0.0).withKI(0).withKD(0)
.withKV(0.099).withKA(0.0).withKS(0.0);
.withKP(0.21)
.withKI(0)
.withKD(0.004)
.withKS(0.25)
.withKA(0.0)
.withKV(flywheelNominalKv);
public static final Slot0Configs conveyorSlot0Configs = new Slot0Configs()
.withKP(0.0).withKI(0).withKD(0)
.withKV(0.16).withKA(0.15).withKS(0);
.withKP(0.19).withKI(0).withKD(0.001)
.withKV(shooterConveyorNominalKv).withKA(0.0).withKS(0.07);
public static final Slot0Configs backboardSlot0Configs = new Slot0Configs()
.withKP(0.01).withKI(0).withKD(0)
@@ -65,7 +87,7 @@ public final class Constants {
}
public static class AutoPositioning {
public static final double autoRotationkP = 0.08;
public static final double autoRotationkP = 0.07;
public static final double autoRotationForBumpTargetDegrees = 45;
public static final double autoRotationForTrenchTargetDegrees = 0;
public static final boolean teleopOffsetEnabled = true;
@@ -130,9 +152,6 @@ public final class Constants {
public static final double intakeRotaterRaiseVoltage = 0.8;
public static final double intakeRotaterLowerVoltage = 0.05;
public static final double intakeRotaterShootAssistPeriodSeconds = 0.4;
public static final double intakeRotaterShootAssistUpDutyCycle = 0.5;
public static final Slot0Configs intakeRollerSlot0Configs = new Slot0Configs()
.withKP(0.00).withKI(0.00).withKD(0.00)
.withKV(0.00).withKA(0.00).withKS(0.00);
@@ -160,14 +179,18 @@ public final class Constants {
// 状态机时间和门控容差。真车基础动作验证后，需要现场调这些值。
public static final double shooterFeedVoltage = Shooter.shooterConveyorFeedVoltage;
public static final double shooterReverseVoltage = Shooter.shooterConveyorReverseVoltage;
public static final double shooterFeedVelocity = Shooter.shooterConveyorFeedVelocity;
public static final double shooterReverseVelocity = Shooter.shooterConveyorReverseVelocity;
public static final double shootTimeoutSeconds = 1.0;
public static final double aimToleranceDegrees = 1.5;
public static final double stationarySpeedToleranceMetersPerSecond = 0.5;
public static final double passBallFlywheelVoltage = Shooter.defaultFlywheelVoltage;
public static final double passBallFlywheelVelocity = Shooter.defaultFlywheelVelocity;
public static final double passBallBackboardPosition = 175.0;
// 射击时背板的目标位置（外接编码器计数）。
public static final double backboardShootPosition = 175.0;
public static final double backboardReadyPositionTolerance = 100.0;
// 射击门控是否要求底盘接近静止。
public static final boolean stationaryGateEnabled = true;
}