admin6494/FRC6494_2026Regional-offseason
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自动瞄准+射球已封装 增加conveyor独立控制

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OnDYCLaptop
2026-03-09 12:17:42 +08:00
parent 9a426a8f8a
commit c8b7359b99
26 changed files with 351 additions and 306 deletions
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src/main/java/frc/robot/subsystems/ClimberSubsystem.java
+7
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@@ -70,6 +70,10 @@ public class ClimberSubsystem extends SubsystemBase {
targetPositionTicks = Constants.Climber.climbDownTicks;
climberMotor.setControl(positionHoldRequest.withPosition(targetPositionTicks));
}
public void climbDownAuto() {
targetPositionTicks = Constants.Climber.climbDownAutoTicks;
climberMotor.setControl(positionHoldRequest.withPosition(targetPositionTicks));
}
public void climbDownNonStop(){
climberMotor.setControl(velocityRequest.withVelocity(Constants.Climber.climbVelocity));
@@ -78,6 +82,9 @@ public class ClimberSubsystem extends SubsystemBase {
public void climbUpNonStop(){
climberMotor.setControl(velocityRequest.withVelocity(-Constants.Climber.climbVelocity));
}
public void climbUpNonStopforAuto(){
climberMotor.set(0.07);
}
public void captureHoldPosition() {
holdPositionTicks = getPositionTicks();