小改

2026-07-04 20:58:14 +08:00
parent 3c5d17b527
commit a78a71e4ed
4 changed files with 19 additions and 46 deletions
@@ -17,44 +17,27 @@ import frc.robot.Constants;
 */
 public class ConveyorSubsystem extends SubsystemBase {
    public final TalonFX mainConveyor;
-
    private final VoltageOut voltageRequest = new VoltageOut(0);
    private final NetworkTable table = NetworkTableInstance.getDefault().getTable("Conveyor");

-    private double voltage = 0.0;
-
    public ConveyorSubsystem() {
        mainConveyor = new TalonFX(Constants.Conveyor.mainConveyorID);
    }
-
    public void feedToShooter() {
        setVoltage(Constants.Conveyor.feedVoltage);
    }
-
    public void reverse() {
        setVoltage(Constants.Conveyor.reverseVoltage);
    }
-
-    public void hold() {
-        setVoltage(Constants.Conveyor.holdVoltage);
-    }
-
    public void stop() {
        setVoltage(0.0);
    }
-
-    public void setPercent(double percent) {
-        setVoltage(percent * 12.0);
-    }
-
    public void setVoltage(double volts) {
-        voltage = MathUtil.clamp(volts, -12.0, 12.0);
-        mainConveyor.setControl(voltageRequest.withOutput(voltage));
+        mainConveyor.setControl(voltageRequest.withOutput(volts));
    }
-
+    
    @Override
    public void periodic() {
-        table.getEntry("voltage").setDouble(voltage);
        table.getEntry("velocity").setDouble(mainConveyor.getVelocity().getValueAsDouble());
    }
 }