小改

src/main/java/frc/robot/Constants.java

@@ -150,7 +150,6 @@ public final class Constants {
         public static final int mainConveyorID = 50;
         public static final double feedVoltage = 6.0;
         public static final double reverseVoltage = -5.0;
-        public static final double holdVoltage = 0.8;
     }
 
     public static class Superstructure {

src/main/java/frc/robot/subsystems/ConveyorSubsystem.java

@@ -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(volts));
-        mainConveyor.setControl(voltageRequest.withOutput(voltage));
     }
-
+    
     @Override
     public void periodic() {
-        table.getEntry("voltage").setDouble(voltage);
         table.getEntry("velocity").setDouble(mainConveyor.getVelocity().getValueAsDouble());
     }
 }

src/main/java/frc/robot/subsystems/IntakeRollerSubsystem.java

@@ -18,16 +18,13 @@ import frc.robot.Constants;
  * 本类只负责成对 TalonFX 输出和 follower 关系。
  */
 public class IntakeRollerSubsystem extends SubsystemBase {
-    public final TalonFX leftIntakeRoller;
+    private final TalonFX leftIntakeRoller;
-    public final TalonFX rightIntakeRoller;
+    private final TalonFX rightIntakeRoller;
 
     private final VoltageOut voltageRequest = new VoltageOut(0);
     private final Follower rightFollower;
     private final NetworkTable table = NetworkTableInstance.getDefault().getTable("IntakeRoller");
 
-    private double leftVoltage = 0.0;
-    private double rightVoltage = 0.0;
-
     public IntakeRollerSubsystem() {
         leftIntakeRoller = new TalonFX(Constants.Intaker.leftIntakeRollerID);
         rightIntakeRoller = new TalonFX(Constants.Intaker.rightIntakeRollerID);
@@ -36,30 +33,19 @@ public class IntakeRollerSubsystem extends SubsystemBase {
     }
 
     public void intake() {
-        setVoltage(Constants.Intaker.intakeRollerVoltage, -Constants.Intaker.intakeRollerVoltage);
+        setVoltage(Constants.Intaker.intakeRollerVoltage);
     }
 
     public void outtake() {
-        setVoltage(Constants.Intaker.outtakeRollerVoltage, -Constants.Intaker.outtakeRollerVoltage);
+        setVoltage(Constants.Intaker.outtakeRollerVoltage);
-    }
-
-    public void hold() {
-        setVoltage(Constants.Intaker.holdRollerVoltage, -Constants.Intaker.holdRollerVoltage);
     }
 
     public void stop() {
-        setVoltage(0.0, 0.0);
+        setVoltage(0);
     }
 
-    public void setPercent(double left, double right) {
+    public void setVoltage(double left) {
-        setVoltage(left * 12.0, right * 12.0);
+        leftIntakeRoller.setControl(voltageRequest.withOutput(left));
-    }
-
-    public void setVoltage(double left, double right) {
-        // rightVoltage 仅用于 dashboard 显示；真实硬件通过反向 follower 跟随左侧电机。
-        leftVoltage = MathUtil.clamp(left, -12.0, 12.0);
-        rightVoltage = MathUtil.clamp(right, -12.0, 12.0);
-        leftIntakeRoller.setControl(voltageRequest.withOutput(leftVoltage));
         followLeft();
     }
 
@@ -67,11 +53,16 @@ public class IntakeRollerSubsystem extends SubsystemBase {
         rightIntakeRoller.setControl(rightFollower);
     }
 
+    private double getVelocityDifference() {
+    double leftVelocity = leftIntakeRoller.getVelocity().getValueAsDouble();
+    double rightVelocity = rightIntakeRoller.getVelocity().getValueAsDouble();
+    return Math.abs(leftVelocity) - Math.abs(rightVelocity);
+    }
+
     @Override
     public void periodic() {
-        table.getEntry("leftVoltage").setDouble(leftVoltage);
-        table.getEntry("rightVoltage").setDouble(rightVoltage);
         table.getEntry("leftVelocity").setDouble(leftIntakeRoller.getVelocity().getValueAsDouble());
         table.getEntry("rightVelocity").setDouble(rightIntakeRoller.getVelocity().getValueAsDouble());
+        table.getEntry("velocityDifference").setDouble(getVelocityDifference());
     }
 }

src/main/java/frc/robot/subsystems/Superstructure.java

@@ -179,7 +179,7 @@ public class Superstructure extends SubsystemBase {
 
     private void handleIdle() {
         // 安全默认状态：传球不动，intake 收回，背板保持受控。
-        conveyor.hold();
+        conveyor.stop();
         intakeRoller.stop();
         intakeRotater.stop();
         shooter.stopFlywheel();
@@ -224,8 +224,8 @@ public class Superstructure extends SubsystemBase {
         }
 
         intakeRotater.moveToHandoff();
-        intakeRoller.hold();
+        intakeRoller.stop();
-        conveyor.hold();
+        conveyor.stop();
         shooter.stopShooterConveyor();
         // 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。