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/RobotContainer.java
+5 -2
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@@ -181,8 +181,8 @@ public class RobotContainer {
controllerupper.b().and(teleopOnly)
.onTrue(operatorControls.requestEjectCommand())
.onFalse(operatorControls.requestIdleCommand());
controllerupper.povLeft().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVoltageOffset(-0.1)));
controllerupper.povRight().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVoltageOffset(0.1)));
controllerupper.povLeft().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVelocityOffset(-1.0)));
controllerupper.povRight().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVelocityOffset(1.0)));
controllerupper.povUp().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(100)));
controllerupper.povDown().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(-100)));
controllerupper.back().onTrue(Commands.runOnce(() -> operatorControls.resetOffsets()));
@@ -200,12 +200,15 @@ public class RobotContainer {
public void tunerPeriodic() {
driveGainsTuner.periodic();
configFlywheelTuner.periodic(() -> shooterSubsystem.applyLeftConfigurationToRight());
shooterSubsystem.debugFlywheelVelocityPeriodic();
configConveyorTuner.periodic(null);
shooterSubsystem.debugShooterConveyorVelocityPeriodic();
configBackboardTuner.periodic();
shooterSubsystem.debugBackboardTargetPeriodic();
configMainConveyorTuner.periodic(null);
configIntakerRollerTuner.periodic(null);
configIntakerRotaterTuner.periodic(null);
shooterSubsystem.setRightFlywheelFollowLeft();
shooterSubsystem.setRightConveyorFollowLeft();
}