admin6494/FRC6494_2026Regional-offseason
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开环intaker 红蓝Drivercontrol（待传蓝方参数

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OnDYCLaptop
2026-03-03 21:12:34 +08:00
parent c032236287
commit aa323814de
4 changed files with 15 additions and 28 deletions
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src/main/java/frc/robot/subsystems/IntakerSubsystem.java
+3 -20
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@@ -83,26 +83,9 @@ public class IntakerSubsystem extends SubsystemBase{
stopIntakerotater();
}
public void IntakerDownNonStop(){
double currentPosition = getIntakerotaterPosition();
if (currentPosition > Constants.Intaker.intakeRotaterDownLimit) {
intakerotater.set(-0.05);}
// double currentPosition = getIntakerotaterPosition();
// if (currentPosition > Constants.Intaker.intakeRotaterDownLimit) {
// intakerotater.setControl(velocityRequest.withVelocity(Constants.Intaker.intakeRotaterVelocity));
// } else {
// stopIntakerotater();
// }
}
intakerotater.set(-0.05);
}
public void IntakerUpNonStop(){
double currentPosition = getIntakerotaterPosition();
if (currentPosition < Constants.Intaker.intakeRotaterUpLimit) {
intakerotater.set(0.1);}
// if (currentPosition < Constants.Intaker.intakeRotaterUpLimit) {
// intakerotater.setControl(velocityRequest.withVelocity(-Constants.Intaker.intakeRotaterVelocity));
// } else {
// stopIntakerotater();
// }
intakerotater.set(0.2);
}
}