修改版

src/main/java/frc/robot/RobotContainer.java

@@ -82,7 +82,7 @@ public class RobotContainer {
     configueClimber();
     bingdingLED();
     configueIntaker();
-    //configureBindings();
+    configureBindings();
     Autocommand.preNameCommands(
         climberSubsystem,
         IntakerSubsystem,
@@ -194,9 +194,7 @@ public class RobotContainer {
   }
 
   private void configueClimber() {
-    //enableTrigger.onTrue(climberControls.enableInitCommand());
     climberSubsystem.setDefaultCommand(climberControls.defaultClimberCommand());
-    //controllerupper.b().onTrue(climberControls.resetClimberEncoderCommand(climberSubsystem));
   }
 
   private void configueIntaker() {
@@ -204,21 +202,21 @@ public class RobotContainer {
     controllerupper.a().onTrue(intakerControls.resetIntakerRotaterEncoderCommand(IntakerSubsystem));
   }
 
-  // private void configureBindings() {
+  private void configureBindings() {
-  //       teleopStartTrigger.onTrue(handleClimberAtTeleopStartCommand());
+        teleopStartTrigger.onTrue(handleClimberAtTeleopStartCommand());
-  //   }
+    }
 
-  // private Command handleClimberAtTeleopStartCommand() {
+  private Command handleClimberAtTeleopStartCommand() {
-  //       return new InstantCommand(() -> {
+        return new InstantCommand(() -> {
-  //           if (climberSubsystem.wasAutoClimbUsedInAuto()) {
+            if (climberSubsystem.wasAutoClimbUsedInAuto()) {
-  //               climberSubsystem.climbUp();
+                climberSubsystem.climbUp();
-  //               climberSubsystem.clearAutoClimbUsedInAutoFlag();
+                climberSubsystem.clearAutoClimbUsedInAutoFlag();
-  //           }
+            }
-  //       }, climberSubsystem);
+        }, climberSubsystem);
-  //   }
+    }
 
-  //   public ClimberSubsystem getClimberSubsystem() {
+  public ClimberSubsystem getClimberSubsystem() {
-  //       return climberSubsystem;
+      return climberSubsystem;
-  //   }
+  }
 
 }

src/main/java/frc/robot/controls/Autocommand.java

@@ -32,7 +32,7 @@ import frc.robot.Constants.RobotStatus;
             ShooterControls shooterControls
     ) {
         NamedCommands.registerCommand("climb_up", climb_up(climber));
-        //NamedCommands.registerCommand("climb_down", climb_down(climber));
+        NamedCommands.registerCommand("climb_down", climb_down(climber));
         NamedCommands.registerCommand("start_intake", start_intake(intaker));
         NamedCommands.registerCommand("start_intake_timelimit", start_intake_timelimit(intaker));
         NamedCommands.registerCommand("stop_intake", stop_intake(intaker));
@@ -40,9 +40,10 @@ import frc.robot.Constants.RobotStatus;
         NamedCommands.registerCommand("intaker_up", intaker_up(intaker));
         NamedCommands.registerCommand("auto_align_to_climb", autoAlignToClimb(drivetrain));
         NamedCommands.registerCommand("shoot", shoot(shooter));
-        // NamedCommands.registerCommand("Shake", Autocommand.shake(driveControls));
+        NamedCommands.registerCommand("Shake", shake(driveControls));
-        // NamedCommands.registerCommand("AutoAim", Autocommand.autoAim(driveControls));
+        NamedCommands.registerCommand("AutoAim", autoAim(driveControls));
-        // NamedCommands.registerCommand("AutoShoot", Autocommand.autoShoot(shooterControls));
+        NamedCommands.registerCommand("AutoShoot", autoShoot(shooterControls));
+        NamedCommands.registerCommand("climber_init", climber_Zeroencoder(climber));
 
     }
 
@@ -57,14 +58,18 @@ import frc.robot.Constants.RobotStatus;
             }, climber));
         }
         public static Command climb_down(ClimberSubsystem climber) {
-            return new RunCommand(() -> {
+            return new InstantCommand(() -> {
+                climber.markAutoClimbUsedInAuto();   // 标记自动攀爬已使用
+            }, climber)
+            .andThen(new RunCommand(() -> {
                 climber.climbDown();  // 控制爬升器下降
-            }, climber).withTimeout(2.0)  //
+            }, climber).withTimeout(2.0))
             .andThen(new InstantCommand(() -> {
                 climber.captureHoldPosition();  // 捕获当前爬升器位置以保持
                 climber.holdPosition();         // 停止并锁定当前爬升器位置
             }, climber));
         }
+
         public static Command start_intake(IntakerSubsystem intaker) {
             return new RunCommand(() -> {
                 intaker.setIntakerGetterSpeed(Constants.Intaker.IntakeGetterSpeedforAuto);  // 启动吸球
@@ -136,15 +141,22 @@ import frc.robot.Constants.RobotStatus;
                 shooter.setConveyorSpeedByRPS(0);  // 停止输送
             }, shooter)));
         }
-        // public static Command autoAim(DriveControls driveControls) {
+        public static Command autoAim(DriveControls driveControls) {
-        //     return driveControls.autoAimCommand();
+            return driveControls.autoAimCommand();
-        // }
+        }
-        // public static Command autoShoot(ShooterControls shooterControl) {
+
-        //     return shooterControl.autoShootToHubCommand();
+        public static Command autoShoot(ShooterControls shooterControl) {
-        // }
+            return shooterControl.autoShootToHubCommand();
-        // public static Command shake(DriveControls driveControls) {
+        }
-        //     return driveControls.shakeCommand();
+
-        // }
+        public static Command shake(DriveControls driveControls) {
+            return driveControls.shakeCommand();
+        }
+
+        public static Command climber_Zeroencoder(ClimberSubsystem climber) {
+            return climber.initCommand();
+        }
+
 
 
     }

src/main/java/frc/robot/controls/ClimberControls.java

@@ -50,11 +50,6 @@ public class ClimberControls {
 
     }
 
-    public Command enableInitCommand() {
-        return Commands.run(climber::initialize, climber)
-                .withTimeout(0.5)
-                .andThen(Commands.runOnce(climber::zeroEncoder, climber));
-    }
     public Command resetClimberEncoderCommand(ClimberSubsystem climber) {
         return Commands.runOnce(climber::zeroEncoder, climber);
     }

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

@@ -10,13 +10,15 @@ import com.ctre.phoenix6.signals.InvertedValue;
 
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 
 public class ClimberSubsystem extends SubsystemBase {
 
-    // private boolean autoClimbUsedInAuto = false;
+    private boolean autoClimbUsedInAuto = false;
 
     private final TalonFX climberMotor;
     private double targetPositionTicks;
@@ -50,11 +52,6 @@ public class ClimberSubsystem extends SubsystemBase {
         climberMotor.set(-0.07);
     }
 
-    public void zeroEncoder(){
-        climberMotor.setPosition(0);
-        stopMotor();
-    }
-
     public double getPositionTicks() {
         return climberMotor.getPosition().getValueAsDouble();
     }
@@ -101,18 +98,33 @@ public class ClimberSubsystem extends SubsystemBase {
     public void stopMotor() {
         climberMotor.set(0);
     }
+    public void setMotor(double speed) {
+        climberMotor.set(speed);
+    }
 
-    // public void markAutoClimbUsedInAuto() {
+    public Command initCommand() {
-    //     autoClimbUsedInAuto = true;
+        return Commands.sequence(
-    // }
+            Commands.run(() -> climberMotor.set(-0.07), this).withTimeout(0.5),
+            Commands.runOnce(this::zeroEncoder, this)
+        );
+    }
 
-    // public boolean wasAutoClimbUsedInAuto() {
+    public void zeroEncoder() {
-    //     return autoClimbUsedInAuto;
+        climberMotor.setPosition(0);
-    // }
+        stopMotor();
+    }
 
-    // public void clearAutoClimbUsedInAutoFlag() {
+    public void markAutoClimbUsedInAuto() {
-    //     autoClimbUsedInAuto = false;
+        autoClimbUsedInAuto = true;
-    // }
+    }
+
+    public boolean wasAutoClimbUsedInAuto() {
+        return autoClimbUsedInAuto;
+    }
+
+    public void clearAutoClimbUsedInAutoFlag() {
+        autoClimbUsedInAuto = false;
+    }
 
     @Override
     public void periodic() {