From 921a11b31a0f35a78b343c5c7e219b29a98e99a4 Mon Sep 17 00:00:00 2001
From: OnDYCLaptop <dingdoorfiah@gamil.com>
Date: Thu, 5 Mar 2026 20:28:43 +0800
Subject: [PATCH] =?UTF-8?q?conveyor=E6=9C=89bug=E7=89=88?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
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---
 src/main/java/frc/robot/Constants.java                        | 2 +-
 src/main/java/frc/robot/controls/ShooterControls.java         | 4 ++--
 .../java/frc/robot/subsystems/CommandSwerveDrivetrain.java    | 2 ++
 src/main/java/frc/robot/subsystems/ShooterSubsystem.java      | 4 ++++
 4 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index dcafbe3..f4897e2 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -15,7 +15,7 @@ public final class Constants {
         CrossingTrench
     }
     public class Shooter {
-        public static final double conveyorSpeed = 25;
+        public static final double conveyorSpeed = 50;
         public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs()
             .withKP(0.0).withKI(0).withKD(0)
             .withKV(0.099).withKA(0.0).withKS(0.0);
diff --git a/src/main/java/frc/robot/controls/ShooterControls.java b/src/main/java/frc/robot/controls/ShooterControls.java
index 48bcfc3..bb2bd21 100644
--- a/src/main/java/frc/robot/controls/ShooterControls.java
+++ b/src/main/java/frc/robot/controls/ShooterControls.java
@@ -76,14 +76,14 @@ public class ShooterControls {
                         flywheelSpeed = 0;
                         conveyorSpeed = 0;
                     }
-                    if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()<flywheelSpeed*0.95){
+                    if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()<flywheelSpeed*0.9){
                         conveyorSpeed = 0;
                     }
                     shooterControlTable.getEntry("flywheelTargetSpeed").setDouble(flywheelSpeed);
                     shooterControlTable.getEntry("conveyerTargetSpeed").setDouble(conveyorSpeed);
                     shooterControlTable.getEntry("backboardTargetPosition").setDouble(backboardPosition);
                     shooterSubsystem.setFlywheelSpeedByRPS(flywheelSpeed);
-                    shooterSubsystem.setConveyorSpeedByRPS(conveyorSpeed);
+                    shooterSubsystem.setConveyorSpeedOpen(5);
                     shooterSubsystem.setBackboardPosition(backboardPosition);  
                     if(shooterSubsystem.isBackboardAtTarget()){
                         shooterSubsystem.backboardMotor.set(0);
diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
index 0813b5d..9979ef6 100644
--- a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -284,10 +284,12 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         for(int id : new int[]{16,32}){
             if(id == trueId){
                 ifRightTag = true;
+                System.out.println("Target get.");
                 break;
             }
         }
         if(!ifRightTag){
+            System.out.println("No Target.");
             return "No Target";
         }
         double tx = LimelightSupplier.getTX() ;
diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
index 68e49a9..64235f7 100644
--- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -95,6 +95,9 @@ public class ShooterSubsystem extends SubsystemBase {
     public void setConveyorSpeedByRPS(double speed) {
         conveyorMotor.setControl(velocityRequest.withVelocity(speed));  // 设置传动电机速度
     }
+    public void setConveyorSpeedOpen(double speed){
+        conveyorMotor.set(speed);
+    }
 
     //调试用
     public void setBackboardSpeedByRPS(double speed){
@@ -167,6 +170,7 @@ public class ShooterSubsystem extends SubsystemBase {
         shooterNetworkTable.getEntry("backboardTargetRate").setDouble(backboardPID.getSetpoint().position);
         shooterNetworkTable.getEntry("isBackboardAtTarget").setBoolean(isBackboardAtTarget());
         shooterNetworkTable.getEntry("distanceGetted").setDouble(getDistanceToHub());
+        shooterNetworkTable.getEntry("distancetopassball").setDouble(getDistanceToPassball());
     }
 
     public double getDistanceToHub(){