admin6494/FRC6494_2026Regional-offseason
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添加自动射球时的shake

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OnDYCLaptop
2026-03-09 12:27:28 +08:00
parent 69e86905ba
commit 9e00148138
2 changed files with 38 additions and 8 deletions
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src/main/java/frc/robot/controls/Autocommand.java
+12 -5
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@@ -40,7 +40,10 @@ import frc.robot.Constants.RobotStatus;
NamedCommands.registerCommand("intaker_up", intaker_up(intaker));
NamedCommands.registerCommand("auto_align_to_climb", autoAlignToClimb(drivetrain));
NamedCommands.registerCommand("shoot", shoot(shooter));
NamedCommands.registerCommand("auto_aim_and_shoot", autoAimAndShoot(driveControls, shooterControls));
NamedCommands.registerCommand("Shake", Autocommand.shake(driveControls));
NamedCommands.registerCommand("AutoAim", Autocommand.autoAim(driveControls));
NamedCommands.registerCommand("AutoShoot", Autocommand.autoShoot(shooterControls));
}
public static Command climb_up(ClimberSubsystem climber) {
@@ -131,10 +134,14 @@ import frc.robot.Constants.RobotStatus;
shooter.setConveyorSpeedByRPS(0); // 停止输送
}, shooter)));
}
public static Command autoAimAndShoot(DriveControls driveControls, ShooterControls shooterControl) {
return driveControls.autoAimCommand()
.andThen(shooterControl.autoShootToHubCommand());
public static Command autoAim(DriveControls driveControls) {
return driveControls.autoAimCommand();
}
public static Command autoShoot(ShooterControls shooterControl) {
return shooterControl.autoShootToHubCommand();
}
public static Command shake(DriveControls driveControls) {
return driveControls.shakeCommand();
}