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This commit is contained in:
OnDYCLaptop
2026-07-19 14:49:14 +08:00
parent 5c1d9c3230
commit a6595a79d7
47 changed files with 2383 additions and 424 deletions
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src/main/deploy/pathplanner/autos/8 Balls Middle Start Blue.auto
-31
View File
@@ -1,31 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Back To Shoot Blue"
}
},
{
"type": "named",
"data": {
"name": "shoot_hub"
}
},
{
"type": "named",
"data": {
"name": "shoot_hub"
}
}
]
}
},
"resetOdom": true,
"folder": "Blue Middle",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/8 Balls Middle Start Red.auto
-25
View File
@@ -1,25 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Back To Shoot Red"
}
},
{
"type": "named",
"data": {
"name": "shoot_hub"
}
}
]
}
},
"resetOdom": true,
"folder": "Red Middle",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/Shoot and Depot Blue.auto → src/main/deploy/pathplanner/autos/BlueLeft1.8cycle.auto
+46 -74
View File
@@ -8,35 +8,22 @@
"type": "parallel", "type": "parallel",
"data": { "data": {
"commands": [ "commands": [
{
"type": "named",
"data": {
"name": "intaker_down"
}
},
{
"type": "named",
"data": {
"name": "start_intake_and_conveyor"
}
},
{ {
"type": "path", "type": "path",
"data": { "data": {
"pathName": "Back To Shoot Blue" "pathName": "blueLeft1"
}
},
{
"type": "named",
"data": {
"name": "intaker_down"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "shoot_hub"
}
},
{
"type": "named",
"data": {
"name": "intaker_down"
} }
} }
] ]
@@ -49,42 +36,21 @@
} }
}, },
{ {
"type": "parallel", "type": "path",
"data": { "data": {
"commands": [ "pathName": "blueLeft2"
{
"type": "path",
"data": {
"pathName": "Shoot to Depot Blue"
}
}
]
} }
}, },
{ {
"type": "parallel", "type": "path",
"data": { "data": {
"commands": [ "pathName": "blueLeft3"
{
"type": "path",
"data": {
"pathName": "Depot Intake Blue"
}
}
]
} }
}, },
{ {
"type": "parallel", "type": "path",
"data": { "data": {
"commands": [ "pathName": "blueLeftTurnToHub2"
{
"type": "named",
"data": {
"name": "AutoAim"
}
}
]
} }
}, },
{ {
@@ -106,18 +72,36 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": "Shake" "name": "AutoAim"
}
},
{
"type": "named",
"data": {
"name": "intaker_up"
} }
} }
] ]
} }
}, },
{
"type": "named",
"data": {
"name": "start_intake_and_conveyor"
}
},
{
"type": "path",
"data": {
"pathName": "blueLeftTurnToHub1"
}
},
{
"type": "path",
"data": {
"pathName": "blueLeft4"
}
},
{
"type": "path",
"data": {
"pathName": "blueLeft5"
}
},
{ {
"type": "parallel", "type": "parallel",
"data": { "data": {
@@ -131,28 +115,16 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": "Shake" "name": "AutoAim"
}
},
{
"type": "named",
"data": {
"name": "intaker_up"
} }
} }
] ]
} }
},
{
"type": "path",
"data": {
"pathName": "blue depot go 1"
}
} }
] ]
} }
}, },
"resetOdom": true, "resetOdom": true,
"folder": "Blue Middle", "folder": "Blue",
"choreoAuto": false "choreoAuto": false
} }
src/main/deploy/pathplanner/autos/Copy of Shoot and Depot Blue.auto → src/main/deploy/pathplanner/autos/BlueRight1.8cycle.auto
+46 -68
View File
@@ -8,35 +8,22 @@
"type": "parallel", "type": "parallel",
"data": { "data": {
"commands": [ "commands": [
{
"type": "named",
"data": {
"name": "intaker_down"
}
},
{
"type": "named",
"data": {
"name": "start_intake_and_conveyor"
}
},
{ {
"type": "path", "type": "path",
"data": { "data": {
"pathName": "Back To Shoot Red" "pathName": "blueRight1"
}
},
{
"type": "named",
"data": {
"name": "intaker_down"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "shoot_hub"
}
},
{
"type": "named",
"data": {
"name": "intaker_down"
} }
} }
] ]
@@ -49,42 +36,21 @@
} }
}, },
{ {
"type": "parallel", "type": "path",
"data": { "data": {
"commands": [ "pathName": "blueRight2"
{
"type": "path",
"data": {
"pathName": "Shoot to Depot Red"
}
}
]
} }
}, },
{ {
"type": "parallel", "type": "path",
"data": { "data": {
"commands": [ "pathName": "blueRight3"
{
"type": "path",
"data": {
"pathName": "Depot Intake Red"
}
}
]
} }
}, },
{ {
"type": "parallel", "type": "path",
"data": { "data": {
"commands": [ "pathName": "blueRightTurnToHub2"
{
"type": "named",
"data": {
"name": "AutoAim"
}
}
]
} }
}, },
{ {
@@ -106,18 +72,36 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": "Shake" "name": "AutoAim"
}
},
{
"type": "named",
"data": {
"name": "intaker_up"
} }
} }
] ]
} }
}, },
{
"type": "named",
"data": {
"name": "start_intake_and_conveyor"
}
},
{
"type": "path",
"data": {
"pathName": "blueRightTurnToHub1"
}
},
{
"type": "path",
"data": {
"pathName": "blueRight4"
}
},
{
"type": "path",
"data": {
"pathName": "blueRight5"
}
},
{ {
"type": "parallel", "type": "parallel",
"data": { "data": {
@@ -131,13 +115,7 @@
{ {
"type": "named", "type": "named",
"data": { "data": {
"name": "Shake" "name": "AutoAim"
}
},
{
"type": "named",
"data": {
"name": "intaker_up"
} }
} }
] ]
@@ -147,6 +125,6 @@
} }
}, },
"resetOdom": true, "resetOdom": true,
"folder": "Red Middle", "folder": "Blue",
"choreoAuto": false "choreoAuto": false
} }
src/main/deploy/pathplanner/autos/RedLeft1.8cycle.auto
+111
View File
@@ -0,0 +1,111 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "intaker_down"
}
},
{
"type": "named",
"data": {
"name": "start_intake_and_conveyor"
}
},
{
"type": "path",
"data": {
"pathName": "red1"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "start_intake_and_conveyor"
}
},
{
"type": "path",
"data": {
"pathName": "red2"
}
},
{
"type": "path",
"data": {
"pathName": "red3"
}
},
{
"type": "path",
"data": {
"pathName": "turntohub2"
}
},
{
"type": "named",
"data": {
"name": "stop_intake_and_conveyor"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "shoot_hub"
}
},
{
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"name": "AutoAim"
}
}
]
}
},
{
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"name": "start_intake_and_conveyor"
}
},
{
"type": "path",
"data": {
"pathName": "turntohub1"
}
},
{
"type": "path",
"data": {
"pathName": "red4"
}
},
{
"type": "path",
"data": {
"pathName": "red5"
}
}
]
}
},
"resetOdom": true,
"folder": "Red",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/RedMiddle.auto
+81
View File
@@ -0,0 +1,81 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
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{
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}
},
{
"type": "named",
"data": {
"name": "start_intake_and_conveyor"
}
},
{
"type": "path",
"data": {
"pathName": "RedGotodepot"
}
}
]
}
},
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},
{
"type": "path",
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},
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"folder": "Red",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/RedRight1.8cycle.auto
+111
View File
@@ -0,0 +1,111 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
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},
{
"type": "named",
"data": {
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},
{
"type": "path",
"data": {
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}
},
{
"type": "named",
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"name": "start_intake_and_conveyor"
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},
{
"type": "path",
"data": {
"pathName": "redRight2"
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},
{
"type": "path",
"data": {
"pathName": "redRight3"
}
},
{
"type": "path",
"data": {
"pathName": "redRightTurnToHub2"
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},
{
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"data": {
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{
"type": "path",
"data": {
"pathName": "redRightTurnToHub1"
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},
"resetOdom": true,
"folder": "Red",
"choreoAuto": false
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src/main/deploy/pathplanner/navgrid.json
+1 -1
View File
File diff suppressed because one or more lines are too long
src/main/deploy/pathplanner/paths/RedGotodepot.path
+54
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@@ -0,0 +1,54 @@
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src/main/deploy/pathplanner/paths/blue depot go 1.path
-95
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@@ -1,95 +0,0 @@
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src/main/deploy/pathplanner/paths/blueLeft1.path
+75
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src/main/deploy/pathplanner/paths/blueLeft2.path
+54
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src/main/deploy/pathplanner/paths/blueLeft3.path
+79
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src/main/deploy/pathplanner/paths/blueLeft4.path
+99
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src/main/deploy/pathplanner/paths/Shoot to Depot Blue.path → src/main/deploy/pathplanner/paths/blueLeftTurnToHub1.path
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src/main/deploy/pathplanner/paths/Back To Shoot Blue.path → src/main/deploy/pathplanner/paths/blueLeftTurnToHub2.path
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src/main/deploy/pathplanner/paths/To Depot Blue.path → src/main/deploy/pathplanner/paths/blueRightTurnToHub1.path
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src/main/deploy/pathplanner/paths/blueRightTurnToHub2.path
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src/main/deploy/pathplanner/paths/red1.path
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src/main/deploy/pathplanner/paths/Depot Intake Red.path → src/main/deploy/pathplanner/paths/redDepotToGoudong.path
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src/main/deploy/pathplanner/paths/Depot Intake Blue.path → src/main/deploy/pathplanner/paths/redRight2.path
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src/main/deploy/pathplanner/paths/Shoot to Depot Red.path → src/main/deploy/pathplanner/paths/redRightTurnToHub1.path
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"rotation": 180.0 "rotation": -141.0090059574941
}, },
"useDefaultConstraints": false "useDefaultConstraints": true
} }
src/main/deploy/pathplanner/paths/To Depot Red.path → src/main/deploy/pathplanner/paths/redRightTurnToHub2.path
+13 -13
View File
@@ -3,25 +3,25 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 13.0, "x": 13.12190361445783,
"y": 4.0 "y": 7.3788795180722895
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 14.000000000000002, "x": 13.364446481851207,
"y": 4.0 "y": 7.3182745885978715
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
}, },
{ {
"anchor": { "anchor": {
"x": 15.400452528841061, "x": 13.537156626506023,
"y": 2.1 "y": 6.471879518072289
}, },
"prevControl": { "prevControl": {
"x": 14.400452528841061, "x": 12.99967089935809,
"y": 2.1 "y": 7.025981025402732
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@@ -33,8 +33,8 @@
"pointTowardsZones": [], "pointTowardsZones": [],
"eventMarkers": [], "eventMarkers": [],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 1.5, "maxVelocity": 2.0,
"maxAcceleration": 3.0, "maxAcceleration": 4.0,
"maxAngularVelocity": 360.0, "maxAngularVelocity": 360.0,
"maxAngularAcceleration": 720.0, "maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,
@@ -42,12 +42,12 @@
}, },
"goalEndState": { "goalEndState": {
"velocity": 0, "velocity": 0,
"rotation": 180.0 "rotation": -141.0090059574941
}, },
"reversed": false, "reversed": false,
"folder": "Red Middle", "folder": "Red Right from pwz",
"idealStartingState": { "idealStartingState": {
"velocity": 0, "velocity": 1.2,
"rotation": 180.0 "rotation": 180.0
}, },
"useDefaultConstraints": true "useDefaultConstraints": true
src/main/deploy/pathplanner/paths/Back To Shoot Red.path → src/main/deploy/pathplanner/paths/turntohub1.path
+15 -15
View File
@@ -3,29 +3,29 @@
"waypoints": [ "waypoints": [
{ {
"anchor": { "anchor": {
"x": 13.01022182786158, "x": 13.537156626506023,
"y": 4.0 "y": 1.5981204819277117
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 13.865906250551847, "x": 13.416951807228916,
"y": 4.0 "y": 1.128228915662652
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": "sssss"
}, },
{ {
"anchor": { "anchor": {
"x": 13.5, "x": 13.12190361445783,
"y": 4.0 "y": 0.691120481927711
}, },
"prevControl": { "prevControl": {
"x": 13.231071353115471, "x": 13.279328656950806,
"y": 4.0 "y": 0.9178648386441994
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": "3"
} }
], ],
"rotationTargets": [], "rotationTargets": [],
@@ -33,22 +33,22 @@
"pointTowardsZones": [], "pointTowardsZones": [],
"eventMarkers": [], "eventMarkers": [],
"globalConstraints": { "globalConstraints": {
"maxVelocity": 1.5, "maxVelocity": 2.0,
"maxAcceleration": 3.0, "maxAcceleration": 4.0,
"maxAngularVelocity": 360.0, "maxAngularVelocity": 360.0,
"maxAngularAcceleration": 720.0, "maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0, "nominalVoltage": 12.0,
"unlimited": false "unlimited": false
}, },
"goalEndState": { "goalEndState": {
"velocity": 0, "velocity": 0.0,
"rotation": 180.0 "rotation": 180.0
}, },
"reversed": false, "reversed": false,
"folder": "Red Middle", "folder": "Red Right from pwz",
"idealStartingState": { "idealStartingState": {
"velocity": 0, "velocity": 0,
"rotation": 180.0 "rotation": 141.0090059574941
}, },
"useDefaultConstraints": true "useDefaultConstraints": true
} }
src/main/deploy/pathplanner/paths/turntohub2.path
+54
View File
@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 13.12190361445783,
"y": 0.691120481927711
},
"prevControl": null,
"nextControl": {
"x": 13.364446481851207,
"y": 0.7517254114021283
},
"isLocked": false,
"linkedName": "3"
},
{
"anchor": {
"x": 13.537156626506023,
"y": 1.5981204819277117
},
"prevControl": {
"x": 12.99967089935809,
"y": 1.0440189745972686
},
"nextControl": null,
"isLocked": false,
"linkedName": "sssss"
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxAcceleration": 4.0,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 141.0090059574941
},
"reversed": false,
"folder": "Red Right from pwz",
"idealStartingState": {
"velocity": 1.2,
"rotation": 180.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/settings.json
+9 -7
View File
@@ -3,19 +3,21 @@
"robotLength": 0.85, "robotLength": 0.85,
"holonomicMode": true, "holonomicMode": true,
"pathFolders": [ "pathFolders": [
"Blue Middle", "Blue Left from pwz",
"Red Middle" "Red Right from pwz",
"Blue Right from pwz"
], ],
"autoFolders": [ "autoFolders": [
"Red Middle", "Blue",
"Blue Middle" "New Folder",
"Red"
], ],
"defaultMaxVel": 1.5, "defaultMaxVel": 2.0,
"defaultMaxAccel": 3.0, "defaultMaxAccel": 4.0,
"defaultMaxAngVel": 360.0, "defaultMaxAngVel": 360.0,
"defaultMaxAngAccel": 720.0, "defaultMaxAngAccel": 720.0,
"defaultNominalVoltage": 12.0, "defaultNominalVoltage": 12.0,
"robotMass": 30.0, "robotMass": 50.0,
"robotMOI": 3.6, "robotMOI": 3.6,
"robotTrackwidth": 0.546, "robotTrackwidth": 0.546,
"driveWheelRadius": 0.045, "driveWheelRadius": 0.045,
src/main/java/frc/robot/Constants.java
+4 -4
View File
@@ -55,8 +55,8 @@ public final class Constants {
public static final double backboardSpeedMax = 3.0; public static final double backboardSpeedMax = 3.0;
public static final double backboardSpeedMin = 0; public static final double backboardSpeedMin = 0;
public static final double backboardGravityFeedforwardMinVolts = 0.1; public static final double backboardGravityFeedforwardMinVolts = 0.2;
public static final double backboardGravityFeedforwardMaxVolts = 0.3; public static final double backboardGravityFeedforwardMaxVolts = 0.5;
public static final double backboardGravityFeedforwardMinPosition = 0.0; public static final double backboardGravityFeedforwardMinPosition = 0.0;
public static final double backboardGravityFeedforwardMaxPosition = 2200.0; public static final double backboardGravityFeedforwardMaxPosition = 2200.0;
public static final double backboardGravityFeedforwardDirection = 1.0; public static final double backboardGravityFeedforwardDirection = 1.0;
@@ -128,7 +128,7 @@ public final class Constants {
public static final double intakeRollerOuttakeVoltage = 3.0; public static final double intakeRollerOuttakeVoltage = 3.0;
public static final double intakeRotaterRaiseVoltage = 0.8; public static final double intakeRotaterRaiseVoltage = 0.8;
public static final double intakeRotaterLowerVoltage = 0.05; public static final double intakeRotaterLowerVoltage = -0.1;
public static final Slot0Configs intakeRollerSlot0Configs = new Slot0Configs() public static final Slot0Configs intakeRollerSlot0Configs = new Slot0Configs()
.withKP(0.00).withKI(0.00).withKD(0.00) .withKP(0.00).withKI(0.00).withKD(0.00)
@@ -158,7 +158,7 @@ public final class Constants {
public static final double shooterFeedVelocity = Shooter.shooterConveyorFeedVelocity; public static final double shooterFeedVelocity = Shooter.shooterConveyorFeedVelocity;
public static final double shooterReverseVelocity = Shooter.shooterConveyorReverseVelocity; public static final double shooterReverseVelocity = Shooter.shooterConveyorReverseVelocity;
public static final double shootTimeoutSeconds = 3.0; public static final double shootTimeoutSeconds = 4.0;
public static final double aimToleranceDegrees = 1.5; public static final double aimToleranceDegrees = 1.5;
public static final double stationarySpeedToleranceMetersPerSecond = 0.5; public static final double stationarySpeedToleranceMetersPerSecond = 0.5;
public static final double passBallFlywheelVoltage = Shooter.defaultFlywheelVoltage; public static final double passBallFlywheelVoltage = Shooter.defaultFlywheelVoltage;
src/main/java/frc/robot/Robot.java
+1
View File
@@ -45,6 +45,7 @@ public class Robot extends TimedRobot {
@Override @Override
public void autonomousInit() { public void autonomousInit() {
m_autonomousCommand = m_robotContainer.getAutonomousCommand(); m_autonomousCommand = m_robotContainer.getAutonomousCommand();
System.out.println("Selected auto: " + (m_autonomousCommand == null ? "null" : m_autonomousCommand.getName()));
if (m_autonomousCommand != null) { if (m_autonomousCommand != null) {
CommandScheduler.getInstance().schedule(m_autonomousCommand); CommandScheduler.getInstance().schedule(m_autonomousCommand);
src/main/java/frc/robot/controls/Autocommand.java
+14 -3
View File
@@ -23,11 +23,18 @@ public class Autocommand extends SequentialCommandGroup {
OperatorControls operatorControls OperatorControls operatorControls
) { ) {
NamedCommands.registerCommand("start_intake", startIntake(superstructure)); NamedCommands.registerCommand("start_intake", startIntake(superstructure));
NamedCommands.registerCommand("start_intake_and_conveyor", startIntake(superstructure));
NamedCommands.registerCommand("stop_intake", idle(superstructure));
NamedCommands.registerCommand("stop_intake_", idle(superstructure)); NamedCommands.registerCommand("stop_intake_", idle(superstructure));
NamedCommands.registerCommand("intaker_down", lowerIntaker(intakeRotater)); NamedCommands.registerCommand("stop_intake_and_conveyor", idle(superstructure));
NamedCommands.registerCommand("init", init(superstructure));
NamedCommands.registerCommand("intaker_down", init(superstructure));
NamedCommands.registerCommand("intaker_up", raiseIntaker(intakeRotater));
NamedCommands.registerCommand("shoot_hub", shootHub(superstructure)); NamedCommands.registerCommand("shoot_hub", shootHub(superstructure));
NamedCommands.registerCommand("reset_backboard0", operatorControls.resetBackboard0Command()); NamedCommands.registerCommand("reset_backboard0", operatorControls.resetBackboard0Command());
NamedCommands.registerCommand("AutoAimForShoot", autoAimForShoot(driveControls)); NamedCommands.registerCommand("AutoAimForShoot", autoAimForShoot(driveControls));
NamedCommands.registerCommand("AutoAim", autoAimForShoot(driveControls));
NamedCommands.registerCommand("Shake", driveControls.shakeCommand());
} }
public static Command startIntake(Superstructure superstructure) { public static Command startIntake(Superstructure superstructure) {
@@ -38,8 +45,12 @@ public class Autocommand extends SequentialCommandGroup {
return superstructure.requestIdleCommand(); return superstructure.requestIdleCommand();
} }
public static Command lowerIntaker(IntakeRotaterSubsystem intakeRotater) { public static Command init(Superstructure superstructure) {
return intakeRotater.lowerForMatchCommand(); return superstructure.requestInitCommand();
}
public static Command raiseIntaker(IntakeRotaterSubsystem intakeRotater) {
return intakeRotater.raiseForMatchCommand();
} }
public static Command shootHub(Superstructure superstructure) { public static Command shootHub(Superstructure superstructure) {
src/main/java/frc/robot/generated/TunerConstants.java
+2 -2
View File
@@ -46,8 +46,8 @@ public class TunerConstants {
private static final SteerMotorArrangement kSteerMotorType = SteerMotorArrangement.TalonFX_Integrated; private static final SteerMotorArrangement kSteerMotorType = SteerMotorArrangement.TalonFX_Integrated;
// The remote sensor feedback type to use for the steer motors; // The remote sensor feedback type to use for the steer motors;
// When not Pro-licensed, Fused*/Sync* automatically fall back to Remote* // Use RemoteCANcoder so the steer TalonFXs do not require Phoenix Pro licenses.
private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.FusedCANcoder; private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.RemoteCANcoder;
// The stator current at which the wheels start to slip; // The stator current at which the wheels start to slip;
// This needs to be tuned to your individual robot // This needs to be tuned to your individual robot
src/main/java/frc/robot/subsystems/IntakeRollerSubsystem.java
+4
View File
@@ -41,6 +41,10 @@ public class IntakeRollerSubsystem extends SubsystemBase {
setVoltage(Constants.Intaker.intakeRollerIntakeVoltage); setVoltage(Constants.Intaker.intakeRollerIntakeVoltage);
} }
public void intakeforshoot() {
setVoltage(-1.0);
}
public void outtake() { public void outtake() {
setVoltage(Constants.Intaker.intakeRollerOuttakeVoltage); setVoltage(Constants.Intaker.intakeRollerOuttakeVoltage);
} }
src/main/java/frc/robot/subsystems/IntakeRotaterSubsystem.java
+1 -1
View File
@@ -82,7 +82,7 @@ public class IntakeRotaterSubsystem extends SubsystemBase {
public void postShootIdleAssist(double elapsedSeconds) { public void postShootIdleAssist(double elapsedSeconds) {
double cycleTime = elapsedSeconds % 0.2; double cycleTime = elapsedSeconds % 0.2;
setVoltage(cycleTime < 0.1 ? 0.03 : 0.0); setVoltage(cycleTime < 0.1 ? 0.0 : 0.0);
} }
public void manualRaise() { public void manualRaise() {
src/main/java/frc/robot/subsystems/Superstructure.java
+29 -2
View File
@@ -22,6 +22,7 @@ import frc.robot.Constants;
public class Superstructure extends SubsystemBase { public class Superstructure extends SubsystemBase {
// 操作员或自动程序请求的目标状态。 // 操作员或自动程序请求的目标状态。
public enum WantedState { public enum WantedState {
INIT,
IDLE, IDLE,
INTAKE, INTAKE,
SHOOT_HUB, SHOOT_HUB,
@@ -34,6 +35,7 @@ public class Superstructure extends SubsystemBase {
// 机器人内部实际执行状态，用于动作排序和仪表盘诊断。 // 机器人内部实际执行状态，用于动作排序和仪表盘诊断。
public enum SystemState { public enum SystemState {
DISABLED, DISABLED,
INITIALIZING,
STOWED, STOWED,
INTAKING, INTAKING,
PREP_SHOOT, PREP_SHOOT,
@@ -85,6 +87,10 @@ public class Superstructure extends SubsystemBase {
wantedState = WantedState.IDLE; wantedState = WantedState.IDLE;
} }
public void requestInit() {
wantedState = WantedState.INIT;
}
public void requestIntake() { public void requestIntake() {
wantedState = WantedState.INTAKE; wantedState = WantedState.INTAKE;
} }
@@ -123,6 +129,14 @@ public class Superstructure extends SubsystemBase {
return Commands.runOnce(this::requestIdle, this); return Commands.runOnce(this::requestIdle, this);
} }
public Command requestInitCommand() {
return Commands.sequence(
Commands.runOnce(this::requestInit),
intakeRotater.lowerForMatchCommand(),
Commands.runOnce(this::requestIntake)
);
}
public Command requestIntakeCommand() { public Command requestIntakeCommand() {
return Commands.runOnce(this::requestIntake, this); return Commands.runOnce(this::requestIntake, this);
} }
@@ -225,6 +239,7 @@ public class Superstructure extends SubsystemBase {
} }
switch (wantedState) { switch (wantedState) {
case INIT -> handleInit();
case IDLE -> handleIdle(); case IDLE -> handleIdle();
case INTAKE -> handleIntake(); case INTAKE -> handleIntake();
case SHOOT_HUB -> handleShootHub(); case SHOOT_HUB -> handleShootHub();
@@ -237,6 +252,18 @@ public class Superstructure extends SubsystemBase {
publishTelemetry(); publishTelemetry();
} }
private void handleInit() {
if (systemState != SystemState.INITIALIZING) {
setSystemState(SystemState.INITIALIZING);
}
conveyor.stop();
intakeRoller.stop();
stopFlywheelUnlessTuning();
stopShooterConveyorUnlessTuning();
holdBackboardStowedUnlessTuning();
}
private void handleIdle() { private void handleIdle() {
// 安全默认状态：球路不动，intaker 不主动动作，背板保持受控。 // 安全默认状态：球路不动，intaker 不主动动作，背板保持受控。
conveyor.stop(); conveyor.stop();
@@ -306,7 +333,6 @@ public class Superstructure extends SubsystemBase {
&& systemState != SystemState.SHOOTING) { && systemState != SystemState.SHOOTING) {
setSystemState(SystemState.PREP_SHOOT); setSystemState(SystemState.PREP_SHOOT);
} }
intakeRoller.stop();
// 距离到射速的映射由 LimelightSubsystem 提供；操作员 offset 用于现场微调， // 距离到射速的映射由 LimelightSubsystem 提供；操作员 offset 用于现场微调，
// 但不会绕过 Superstructure 状态机。 // 但不会绕过 Superstructure 状态机。
shooter.setFlywheelVelocity(targetVelocity); shooter.setFlywheelVelocity(targetVelocity);
@@ -316,7 +342,7 @@ public class Superstructure extends SubsystemBase {
// 只有 canShoot() 通过后才会进入本状态；喂球期间不再复查门控， // 只有 canShoot() 通过后才会进入本状态；喂球期间不再复查门控，
// 避免球接触飞轮导致的掉速中断喂球。 // 避免球接触飞轮导致的掉速中断喂球。
intakeRotater.shootAssist(); intakeRotater.shootAssist();
intakeRoller.intakeforshoot();
conveyor.feedToShooter(); conveyor.feedToShooter();
runShooterConveyorVelocityUnlessTuning(Constants.Superstructure.shooterFeedVelocity); runShooterConveyorVelocityUnlessTuning(Constants.Superstructure.shooterFeedVelocity);
return; return;
@@ -325,6 +351,7 @@ public class Superstructure extends SubsystemBase {
// 未开始喂球前，球路保持静止。 // 未开始喂球前，球路保持静止。
conveyor.stop(); conveyor.stop();
stopShooterConveyorUnlessTuning(); stopShooterConveyorUnlessTuning();
intakeRoller.stop();
// 门控条件实时刷新：条件回落时状态同步回退，仪表盘能看到卡在哪一关。 // 门控条件实时刷新：条件回落时状态同步回退，仪表盘能看到卡在哪一关。
if (canShoot()) { if (canShoot()) {