Merge branch 'main' of https://github.com/HarryWang163/FRC6494_2026Regional

2026-02-24 15:35:55 +08:00
parent 6668da3462 0fe28c2653
commit b61b0d78b2
4 changed files with 184 additions and 2 deletions
@@ -109,5 +109,28 @@ public final class Constants {
    public static final double positionToleranceRotations = 0.00;
    //rotater容差
    }   
-    
+    public static class Climber {
+
+    public static final int motorID = 49;
+
+    public static final boolean inverted = false;
+
+    public static final double climbUpTicks = 83; // TODO: 实测后调整
+    public static final double climbDownTicks = 0; // TODO: 实测后调整
+    public static final double holdToleranceRot = 0.5; 
+
+    public static final Slot0Configs slot0Configs = new Slot0Configs();
+
+    static {
+        // TODO: PID/F 值你们实测后填
+        slot0Configs.kP = 0.2;
+        slot0Configs.kI = 0.0;
+        slot0Configs.kD = 0.0;
+
+        // TODO: 如果要前馈（速度闭环一般建议有 kV）
+        slot0Configs.kS = 0.0;
+        slot0Configs.kV = 0.1;
+        slot0Configs.kA = 0.0;
+    }
+}
 }