admin6494/FRC6494_2026Regional-offseason
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conveyor修复

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OnDYCLaptop
2026-03-06 14:32:16 +08:00
parent 7cee19994f
commit ce8b17e377
3 changed files with 10 additions and 11 deletions
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src/main/java/frc/robot/Constants.java
+1 -1
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@@ -15,7 +15,7 @@ public final class Constants {
CrossingTrench CrossingTrench
} }
public class Shooter { public class Shooter {
public static final double conveyorSpeed = 50; public static final double conveyorSpeed =25;
public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs() public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs()
.withKP(0.0).withKI(0).withKD(0) .withKP(0.0).withKI(0).withKD(0)
.withKV(0.099).withKA(0.0).withKS(0.0); .withKV(0.099).withKA(0.0).withKS(0.0);
src/main/java/frc/robot/controls/IntakerControls.java
+5 -6
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@@ -72,14 +72,13 @@ public class IntakerControls {
public Command defaultIntakerCommand() { public Command defaultIntakerCommand() {
return Commands.run(() -> { return Commands.run(() -> {
double getterspeed = controller.getLeftTriggerAxis() * Constants.Intaker.IntakeGetterK + Constants.Intaker.Getterminspeed; double getterspeed = 0;
double conveyoyspeedforintake = 10; double conveyoyspeedforintake = 15;
if (controller.getLeftTriggerAxis() < 0.1) { if (controller.getLeftTriggerAxis() > 0.1) {
getterspeed = 0; //getterspeed = controller.getLeftTriggerAxis() * Constants.Intaker.IntakeGetterK + Constants.Intaker.Getterminspeed;
conveyoyspeedforintake = 0; ShooterSubsystem.setConveyorSpeedByRPS(conveyoyspeedforintake);
} }
IntakerSubsystem.setIntakerGetterSpeed(getterspeed); IntakerSubsystem.setIntakerGetterSpeed(getterspeed);
ShooterSubsystem.setConveyorSpeedByRPS(conveyoyspeedforintake);
if(controller.getLeftY() < -0.5){ if(controller.getLeftY() < -0.5){
IntakerSubsystem.IntakerUpNonStop(); IntakerSubsystem.IntakerUpNonStop();
src/main/java/frc/robot/controls/ShooterControls.java
+4 -4
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@@ -49,7 +49,7 @@ public class ShooterControls {
flywheelSpeed = 0; flywheelSpeed = 0;
conveyorSpeed = 0; conveyorSpeed = 0;
} }
if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()<flywheelSpeed*0.7){ if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()<flywheelSpeed*0.95){
conveyorSpeed = 0; conveyorSpeed = 0;
} }
shooterControlTable.getEntry("flywheelTargetSpeed").setDouble(flywheelSpeed); shooterControlTable.getEntry("flywheelTargetSpeed").setDouble(flywheelSpeed);
@@ -76,9 +76,9 @@ public class ShooterControls {
flywheelSpeed = 0; flywheelSpeed = 0;
conveyorSpeed = 0; conveyorSpeed = 0;
} }
// if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()<flywheelSpeed*0.7){ if(shooterSubsystem.flywheelMotorLeft.getVelocity().getValueAsDouble()<flywheelSpeed*0.95){
// conveyorSpeed = 0; conveyorSpeed = 0;
// } }
shooterControlTable.getEntry("flywheelTargetSpeed").setDouble(flywheelSpeed); shooterControlTable.getEntry("flywheelTargetSpeed").setDouble(flywheelSpeed);
shooterControlTable.getEntry("conveyerTargetSpeed").setDouble(conveyorSpeed); shooterControlTable.getEntry("conveyerTargetSpeed").setDouble(conveyorSpeed);
shooterControlTable.getEntry("backboardTargetPosition").setDouble(backboardPosition); shooterControlTable.getEntry("backboardTargetPosition").setDouble(backboardPosition);