admin6494/FRC6494_2026Regional-offseason
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加了passball状态等
This commit is contained in:
Alyssum-chenyiyi
2026-02-27 23:38:42 +08:00
parent 4c0e254686
commit a5a360222e
5 changed files with 83 additions and 6 deletions
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src/main/java/frc/robot/controls/ShooterControls.java
+38 -4
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@@ -7,6 +7,8 @@ import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.Constants;
import frc.robot.RobotStatusManager;
import frc.robot.Constants.Intaker;
import frc.robot.subsystems.IntakerSubsystem;
import frc.robot.subsystems.ShooterSubsystem;
public class ShooterControls {
@@ -16,6 +18,9 @@ public class ShooterControls {
private double flywheelSpeedOffset = 0.0;
private double backboardPositionOffset = 0.0;
private NetworkTable shooterControlTable;
private double conveyorSpeed = 0.0;
double flywheelSpeed = 0;
double backboardPosition = 0;
private final RobotStatusManager robotStatusManager;
public ShooterControls(ShooterSubsystem shooterSubsystem, CommandXboxController controller,RobotStatusManager rsm) {
this.shooterSubsystem = shooterSubsystem;
@@ -23,7 +28,7 @@ public class ShooterControls {
this.robotStatusManager = rsm;
shooterControlTable = NetworkTableInstance.getDefault().getTable("ShooterControl");
}
public Command defaultShooterCommand() {
return Commands.run(() -> {
switch (robotStatusManager.getStatus()) {
@@ -31,10 +36,36 @@ public class ShooterControls {
shooterSubsystem.stopMotors();
break;
case AllTelop:
case PassingBall:
flywheelSpeed = 0;//todo:实测传球的时候的速度
flywheelSpeed += flywheelSpeedOffset;
backboardPosition = 0;//todo:实测传球的时候的背板位置
backboardPosition += backboardPositionOffset;
conveyorSpeed = Constants.Shooter.conveyorSpeed;
if (controller.getRightTriggerAxis() < 0.1) {
flywheelSpeed = 0;
conveyorSpeed = 0;
}
if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()<flywheelSpeed*0.7){
conveyorSpeed = 0;
}
// flywheelSpeed = calculateFlywheelSpeedOnlywithOffset(60);
// double flywheelSpeed = calculateFlywheelSpeed(0);
// double BackboardPosition = calculateBackboardPosition(0);
shooterControlTable.getEntry("flywheelTargetSpeed").setDouble(flywheelSpeed);
shooterControlTable.getEntry("conveyerTargetSpeed").setDouble(conveyorSpeed);
shooterControlTable.getEntry("backboardTargetPosition").setDouble(backboardPosition);
shooterSubsystem.setFlywheelSpeedByRPS(flywheelSpeed);
shooterSubsystem.setConveyorSpeedByRPS(conveyorSpeed);
shooterSubsystem.setBackboardPosition(backboardPosition);
if(shooterSubsystem.isBackboardAtTarget()){
shooterSubsystem.backboardMotor.set(0);
}else{
shooterSubsystem.outputBackboard();
}
break;
case AutoAimming:
double flywheelSpeed = 0;
double backboardPosition = 0;
double conveyorSpeed = 0;
var x = shooterSubsystem.getDistance();
x = Math.max(1.2, Math.min(4.5, x));
flywheelSpeed = 0.6956596811733782*x*x*x*x*x*x*x-14.164408860183267*x*x*x*x*x*x+119.7115375240918*x*x*x*x*x-543.0984876677477*x*x*x*x+1425.1928543240738*x*x*x-2156.199296490315*x*x+1736.568139600292*x-516.097598057351;
@@ -46,6 +77,9 @@ public class ShooterControls {
flywheelSpeed = 0;
conveyorSpeed = 0;
}
if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()<flywheelSpeed*0.7){
conveyorSpeed = 0;
}
// flywheelSpeed = calculateFlywheelSpeedOnlywithOffset(60);
// double flywheelSpeed = calculateFlywheelSpeed(0);
// double BackboardPosition = calculateBackboardPosition(0);