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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",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "intaker_down"
}
},
{
"type": "named",
"data": {
"name": "start_intake_and_conveyor"
}
},
{
"type": "path",
"data": {
"pathName": "Back To Shoot Blue"
}
},
{
"type": "named",
"data": {
"name": "intaker_down"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "shoot_hub"
}
},
{
"type": "named",
"data": {
"name": "intaker_down"
"pathName": "blueLeft1"
}
}
]
@@ -49,42 +36,21 @@
}
},
{
"type": "parallel",
"type": "path",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Shoot to Depot Blue"
}
}
]
"pathName": "blueLeft2"
}
},
{
"type": "parallel",
"type": "path",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Depot Intake Blue"
}
}
]
"pathName": "blueLeft3"
}
},
{
"type": "parallel",
"type": "path",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "AutoAim"
}
}
]
"pathName": "blueLeftTurnToHub2"
}
},
{
@@ -106,18 +72,36 @@
{
"type": "named",
"data": {
"name": "Shake"
}
},
{
"type": "named",
"data": {
"name": "intaker_up"
"name": "AutoAim"
}
}
]
}
},
{
"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",
"data": {
@@ -131,28 +115,16 @@
{
"type": "named",
"data": {
"name": "Shake"
}
},
{
"type": "named",
"data": {
"name": "intaker_up"
"name": "AutoAim"
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "blue depot go 1"
}
}
]
}
},
"resetOdom": true,
"folder": "Blue Middle",
"folder": "Blue",
"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",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "intaker_down"
}
},
{
"type": "named",
"data": {
"name": "start_intake_and_conveyor"
}
},
{
"type": "path",
"data": {
"pathName": "Back To Shoot Red"
}
},
{
"type": "named",
"data": {
"name": "intaker_down"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "shoot_hub"
}
},
{
"type": "named",
"data": {
"name": "intaker_down"
"pathName": "blueRight1"
}
}
]
@@ -49,42 +36,21 @@
}
},
{
"type": "parallel",
"type": "path",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Shoot to Depot Red"
}
}
]
"pathName": "blueRight2"
}
},
{
"type": "parallel",
"type": "path",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Depot Intake Red"
}
}
]
"pathName": "blueRight3"
}
},
{
"type": "parallel",
"type": "path",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "AutoAim"
}
}
]
"pathName": "blueRightTurnToHub2"
}
},
{
@@ -106,18 +72,36 @@
{
"type": "named",
"data": {
"name": "Shake"
}
},
{
"type": "named",
"data": {
"name": "intaker_up"
"name": "AutoAim"
}
}
]
}
},
{
"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",
"data": {
@@ -131,13 +115,7 @@
{
"type": "named",
"data": {
"name": "Shake"
}
},
{
"type": "named",
"data": {
"name": "intaker_up"
"name": "AutoAim"
}
}
]
@@ -147,6 +125,6 @@
}
},
"resetOdom": true,
"folder": "Red Middle",
"folder": "Blue",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/RedLeft1.8cycle.auto
+111
View File
@@ -0,0 +1,111 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
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"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"
}
},
{
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"data": {
"name": "stop_intake_and_conveyor"
}
},
{
"type": "parallel",
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"name": "shoot_hub"
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}
},
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},
{
"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": {
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{
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},
{
"type": "path",
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"pathName": "RedGotodepot"
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},
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"folder": "Red",
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}
src/main/deploy/pathplanner/autos/RedRight1.8cycle.auto
+111
View File
@@ -0,0 +1,111 @@
{
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{
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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/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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src/main/deploy/pathplanner/paths/To Depot Red.path → src/main/deploy/pathplanner/paths/redRightTurnToHub2.path
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src/main/deploy/pathplanner/paths/Back To Shoot Red.path → src/main/deploy/pathplanner/paths/turntohub1.path
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},
{
"anchor": {
"x": 13.5,
"y": 4.0
"x": 13.12190361445783,
"y": 0.691120481927711
},
"prevControl": {
"x": 13.231071353115471,
"y": 4.0
"x": 13.279328656950806,
"y": 0.9178648386441994
},
"nextControl": null,
"isLocked": false,
"linkedName": null
"linkedName": "3"
}
],
"rotationTargets": [],
@@ -33,22 +33,22 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.5,
"maxAcceleration": 3.0,
"maxVelocity": 2.0,
"maxAcceleration": 4.0,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"velocity": 0.0,
"rotation": 180.0
},
"reversed": false,
"folder": "Red Middle",
"folder": "Red Right from pwz",
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
"rotation": 141.0090059574941
},
"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,
"holonomicMode": true,
"pathFolders": [
"Blue Middle",
"Red Middle"
"Blue Left from pwz",
"Red Right from pwz",
"Blue Right from pwz"
],
"autoFolders": [
"Red Middle",
"Blue Middle"
"Blue",
"New Folder",
"Red"
],
"defaultMaxVel": 1.5,
"defaultMaxAccel": 3.0,
"defaultMaxVel": 2.0,
"defaultMaxAccel": 4.0,
"defaultMaxAngVel": 360.0,
"defaultMaxAngAccel": 720.0,
"defaultNominalVoltage": 12.0,
"robotMass": 30.0,
"robotMass": 50.0,
"robotMOI": 3.6,
"robotTrackwidth": 0.546,
"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 backboardSpeedMin = 0;
public static final double backboardGravityFeedforwardMinVolts = 0.1;
public static final double backboardGravityFeedforwardMaxVolts = 0.3;
public static final double backboardGravityFeedforwardMinVolts = 0.2;
public static final double backboardGravityFeedforwardMaxVolts = 0.5;
public static final double backboardGravityFeedforwardMinPosition = 0.0;
public static final double backboardGravityFeedforwardMaxPosition = 2200.0;
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 intakeRotaterRaiseVoltage = 0.8;
public static final double intakeRotaterLowerVoltage = 0.05;
public static final double intakeRotaterLowerVoltage = -0.1;
public static final Slot0Configs intakeRollerSlot0Configs = new Slot0Configs()
.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 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 stationarySpeedToleranceMetersPerSecond = 0.5;
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
public void autonomousInit() {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
System.out.println("Selected auto: " + (m_autonomousCommand == null ? "null" : m_autonomousCommand.getName()));
if (m_autonomousCommand != null) {
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
) {
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("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("reset_backboard0", operatorControls.resetBackboard0Command());
NamedCommands.registerCommand("AutoAimForShoot", autoAimForShoot(driveControls));
NamedCommands.registerCommand("AutoAim", autoAimForShoot(driveControls));
NamedCommands.registerCommand("Shake", driveControls.shakeCommand());
}
public static Command startIntake(Superstructure superstructure) {
@@ -38,8 +45,12 @@ public class Autocommand extends SequentialCommandGroup {
return superstructure.requestIdleCommand();
}
public static Command lowerIntaker(IntakeRotaterSubsystem intakeRotater) {
return intakeRotater.lowerForMatchCommand();
public static Command init(Superstructure superstructure) {
return superstructure.requestInitCommand();
}
public static Command raiseIntaker(IntakeRotaterSubsystem intakeRotater) {
return intakeRotater.raiseForMatchCommand();
}
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;
// The remote sensor feedback type to use for the steer motors;
// When not Pro-licensed, Fused*/Sync* automatically fall back to Remote*
private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.FusedCANcoder;
// Use RemoteCANcoder so the steer TalonFXs do not require Phoenix Pro licenses.
private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.RemoteCANcoder;
// The stator current at which the wheels start to slip;
// 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);
}
public void intakeforshoot() {
setVoltage(-1.0);
}
public void outtake() {
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) {
double cycleTime = elapsedSeconds % 0.2;
setVoltage(cycleTime < 0.1 ? 0.03 : 0.0);
setVoltage(cycleTime < 0.1 ? 0.0 : 0.0);
}
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 {
// 操作员或自动程序请求的目标状态。
public enum WantedState {
INIT,
IDLE,
INTAKE,
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。
public enum SystemState {
DISABLED,
INITIALIZING,
STOWED,
INTAKING,
PREP_SHOOT,
@@ -85,6 +87,10 @@ public class Superstructure extends SubsystemBase {
wantedState = WantedState.IDLE;
}
public void requestInit() {
wantedState = WantedState.INIT;
}
public void requestIntake() {
wantedState = WantedState.INTAKE;
}
@@ -123,6 +129,14 @@ public class Superstructure extends SubsystemBase {
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() {
return Commands.runOnce(this::requestIntake, this);
}
@@ -225,6 +239,7 @@ public class Superstructure extends SubsystemBase {
}
switch (wantedState) {
case INIT -> handleInit();
case IDLE -> handleIdle();
case INTAKE -> handleIntake();
case SHOOT_HUB -> handleShootHub();
@@ -237,6 +252,18 @@ public class Superstructure extends SubsystemBase {
publishTelemetry();
}
private void handleInit() {
if (systemState != SystemState.INITIALIZING) {
setSystemState(SystemState.INITIALIZING);
}
conveyor.stop();
intakeRoller.stop();
stopFlywheelUnlessTuning();
stopShooterConveyorUnlessTuning();
holdBackboardStowedUnlessTuning();
}
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。
conveyor.stop();
@@ -306,7 +333,6 @@ public class Superstructure extends SubsystemBase {
&& systemState != SystemState.SHOOTING) {
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，
// 但不会绕过 Superstructure 状态机。
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，
// 避免球接触飞轮导致的掉速中断喂球。
intakeRotater.shootAssist();
intakeRoller.intakeforshoot();
conveyor.feedToShooter();
runShooterConveyorVelocityUnlessTuning(Constants.Superstructure.shooterFeedVelocity);
return;
@@ -325,6 +351,7 @@ public class Superstructure extends SubsystemBase {
// 未开始喂球前，球路保持静止。
conveyor.stop();
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。
if (canShoot()) {