admin6494/FRC6494_2026Regional-offseason
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OnDYCLaptop
2026-03-02 23:06:14 +08:00
parent 5f3452e091
commit 9538052697
2 changed files with 29 additions and 12 deletions
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src/main/java/frc/robot/RobotContainer.java
+12 -12
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@@ -33,7 +33,7 @@ public class RobotContainer {
/* 手柄 */ /* 手柄 */
/* ====================== */ /* ====================== */
// 只使用一个 Xbox 手柄（端口 0） // 使用2个 Xbox 手柄（端口 0,1）
private final CommandXboxController controllerlower = new CommandXboxController(0); private final CommandXboxController controllerlower = new CommandXboxController(0);
private final CommandXboxController controllerupper = new CommandXboxController(1); private final CommandXboxController controllerupper = new CommandXboxController(1);
@@ -100,15 +100,15 @@ public class RobotContainer {
RobotModeTriggers.disabled().whileTrue(driveControls.idleCommand()); RobotModeTriggers.disabled().whileTrue(driveControls.idleCommand());
// //左保险：按住刹车 //左保险：按住刹车
// controller.leftBumper() controllerlower.leftBumper()
// .onTrue(Commands.runOnce(driveControls::emergencyStop)) .onTrue(Commands.runOnce(driveControls::emergencyStop))
// .whileTrue(driveControls.brakeWhileHeld()); .whileTrue(driveControls.brakeWhileHeld());
// // 右保险：按住加速（Boost） // 右保险：按住加速（Boost）
// controller.rightBumper() controllerlower.rightBumper()
// .onTrue(Commands.runOnce(() -> driveControls.setBoostEnabled(true))) .onTrue(Commands.runOnce(() -> driveControls.setBoostEnabled(true)))
// .onFalse(Commands.runOnce(() -> driveControls.setBoostEnabled(false))); .onFalse(Commands.runOnce(() -> driveControls.setBoostEnabled(false)));
// Back：重置场地坐标系角度 // Back：重置场地坐标系角度
controllerlower.back().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric)); controllerlower.back().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric));
@@ -116,9 +116,9 @@ public class RobotContainer {
// Start：强行使用metaTag2全场定位 // Start：强行使用metaTag2全场定位
controllerlower.start().whileTrue(drivetrain.run(drivetrain::forceUsingLimelightMT2)); controllerlower.start().whileTrue(drivetrain.run(drivetrain::forceUsingLimelightMT2));
//LM 按下时使用机器人坐标系 //LM 按下时autoaimming
//controllerlower.leftStick().onTrue(robotStatusManager.setStatusCommand(RobotStatus.AutoAimming)); controllerlower.leftStick().onTrue(robotStatusManager.setStatusCommand(RobotStatus.AutoAimming));
//controllerlower.leftStick().onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop)); controllerlower.leftStick().onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
controllerlower.leftTrigger() controllerlower.leftTrigger()
.onTrue(robotStatusManager.setStatusCommand(RobotStatus.CrossingTrench)) .onTrue(robotStatusManager.setStatusCommand(RobotStatus.CrossingTrench))
src/main/java/frc/robot/controls/Autocommand.java
+17
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@@ -0,0 +1,17 @@
package frc.robot.controls;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.subsystems.ClimberSubsystem;
import frc.robot.RobotStatusManager;
import frc.robot.subsystems.IntakerSubsystem;
import frc.robot.subsystems.ShooterSubsystem;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.Constants;
import frc.robot.Constants.RobotStatus;