admin6494/FRC6494_2026Regional-offseason
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subsystem修复

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OnDYCLaptop
2026-07-04 22:17:13 +08:00
parent 0c97452a13
commit a1fc79659e
9 changed files with 113 additions and 233 deletions
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src/main/java/frc/robot/subsystems/ShooterSubsystem.java
+7 -13
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@@ -49,8 +49,6 @@ public class ShooterSubsystem extends SubsystemBase {
private final NetworkTable shooterNetworkTable;
private double targetFlywheelRps = 0.0;
private double targetLeftFlywheelRps = 0.0;
private double targetRightFlywheelRps = 0.0;
private double shooterConveyorPercent = 0.0;
public ShooterSubsystem() {
@@ -108,12 +106,10 @@ public class ShooterSubsystem extends SubsystemBase {
rightFlywheel.getConfigurator().apply(configs);
}
public void setFlywheelVelocity(double leftRps, double rightRps) {
// 对外接口使用 RPS，便于 Superstructure 阅读；实际下发仍是电压开环。
targetLeftFlywheelRps = leftRps;
targetRightFlywheelRps = rightRps;
targetFlywheelRps = (Math.abs(leftRps) + Math.abs(rightRps)) / 2.0;
public void setFlywheelVelocity(double targetRps) {
// 右飞轮是 follower，因此对外只暴露一个飞轮目标速度。
// 实际控制仍是左飞轮电压开环，右飞轮反向跟随左飞轮。
targetFlywheelRps = Math.abs(targetRps);
double requestedVoltage = targetFlywheelRps * Constants.Shooter.flywheelVoltsPerRps;
requestedVoltage = MathUtil.clamp(requestedVoltage, -12.0, 12.0);
leftFlywheel.setControl(flywheelVoltageRequest.withOutput(requestedVoltage));
@@ -123,12 +119,10 @@ public class ShooterSubsystem extends SubsystemBase {
public void setFlywheelVelocityByDistance(double distance) {
// 查 Constants 里的射表，两端自动取边界值。
double targetRps = Constants.Shooter.flywheelRpsByDistance.get(distance);
setFlywheelVelocity(targetRps, targetRps);
setFlywheelVelocity(targetRps);
}
public void setFlywheelVoltage(double volts) {
targetLeftFlywheelRps = 0.0;
targetRightFlywheelRps = 0.0;
targetFlywheelRps = 0.0;
leftFlywheel.setControl(flywheelVoltageRequest.withOutput(MathUtil.clamp(volts, -12.0, 12.0)));
setRightFollowLeft();
@@ -143,8 +137,8 @@ public class ShooterSubsystem extends SubsystemBase {
if (targetFlywheelRps <= 1.0) {
return false;
}
return Math.abs(getLeftFlywheelVelocity() - targetLeftFlywheelRps) <= Constants.Shooter.flywheelSpeedToleranceRps
&& Math.abs(Math.abs(getRightFlywheelVelocity()) - Math.abs(targetRightFlywheelRps)) <= Constants.Shooter.flywheelSpeedToleranceRps;
return Math.abs(Math.abs(getLeftFlywheelVelocity()) - targetFlywheelRps) <= Constants.Shooter.flywheelSpeedToleranceRps
&& Math.abs(Math.abs(getRightFlywheelVelocity()) - targetFlywheelRps) <= Constants.Shooter.flywheelSpeedToleranceRps;
}
public double getLeftFlywheelVelocity() {