自动2.1

src/main/java/frc/robot/RobotContainer.java

@@ -162,6 +162,7 @@ public class RobotContainer {
     controllerupper.povDown().onTrue(Commands.runOnce(() -> shooterControls.adjustBackboardRateOffset(-100)));
     controllerupper.back().onTrue(Commands.runOnce(() -> shooterControls.resetOffsets()));
     controllerupper.start().onTrue(Commands.runOnce(() -> shooterControls.resetBackboardCommand()));
+    controllerupper.b().onTrue(Commands.runOnce(() -> shooterControls.resetBackboardCommand()));
   }
   /* ====================== */
   /*        LED 绑定          */
@@ -187,7 +188,7 @@ public class RobotContainer {
   private void configueClimber() {
     enableTrigger.onTrue(climberControls.enableInitCommand());
     climberSubsystem.setDefaultCommand(climberControls.defaultClimberCommand());
-    controllerupper.b().onTrue(climberControls.resetClimberEncoderCommand(climberSubsystem));
+    //controllerupper.b().onTrue(climberControls.resetClimberEncoderCommand(climberSubsystem));
   }
 
   private void configueIntaker() {

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

@@ -73,7 +73,7 @@ public class IntakerControls {
     public Command defaultIntakerCommand() {
         return Commands.run(() -> {
         double getterspeed = 0;
-        double conveyoyspeedforintake = 15;
+        double conveyoyspeedforintake = 0;
         double statorCurrent = ShooterSubsystem.getConveyorStatorCurrent();
         
         if (controller.getLeftTriggerAxis() > 0.1) {

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

@@ -147,4 +147,8 @@ public class ShooterControls {
         flywheelSpeedOffset = 0.0;
         backboardPositionOffset = 0.0;
     }
+    public void startconveyor(){
+        shooterSubsystem.setConveyorSpeedByRPS(10);
+
+    }
 }

src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java

@@ -163,7 +163,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     
     public void forceUsingLimelightmt2() {
         LimelightHelpers.PoseEstimate mt2 =
-        LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.Limelight.LIMELIGHT_NAME_Shooter);
+        LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.Limelight.LIMELIGHT_NAME_Shooter);
 
         if (mt2 == null || mt2.tagCount == 0) {
             return;
@@ -258,7 +258,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
 
     private LimelightHelpers.PoseEstimate getLimelightPoseEstimate(String limelightName) {
         if (Constants.Limelight.UsingMetaTag2) {
-           return LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(limelightName);
+           return LimelightHelpers.getBotPoseEstimate_wpiBlue(limelightName);
         }
         return LimelightHelpers.getBotPoseEstimate_wpiBlue(limelightName);
     }
@@ -415,8 +415,8 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         Pose2d pose = getState().Pose;
         m_field.setRobotPose(pose);
         posePub.set(pose);
-        shooter_ll_field.setRobotPose(LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.Limelight.LIMELIGHT_NAME_Shooter).pose);
+        shooter_ll_field.setRobotPose(LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.Limelight.LIMELIGHT_NAME_Shooter).pose);
-        intaker_ll_field.setRobotPose(LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.Limelight.LIMELIGHT_NAME_Intaker).pose);
+        intaker_ll_field.setRobotPose(LimelightHelpers.getBotPoseEstimate_wpiBlue(Constants.Limelight.LIMELIGHT_NAME_Intaker).pose);
         driveNetworkTable.getEntry("YawFromState").setDouble(getState().Pose.getRotation().getDegrees());
         driveNetworkTable.getEntry("DriveMode").setString(m_driveMode.name());
         driveNetworkTable.getEntry("IsFieldCentric").setBoolean(m_driveMode == DriveMode.FIELD_CENTRIC);

src/main/java/frc/robot/subsystems/IntakerSubsystem.java

@@ -97,7 +97,7 @@ public class IntakerSubsystem extends SubsystemBase{
         double currentPosition = getIntakerotaterPosition();
         if (currentPosition < Constants.Intaker.intakeRotaterUpLimit) {
             // move up while below the upper limit
-            intakerotater.set(0.2);
+            intakerotater.set(0.3);
         } else {
             // at or above upper limit: stop
             stopIntakerotater();