admin6494/FRC6494_2026Regional-offseason
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OnDYCLaptop
2026-07-10 22:10:06 +08:00
parent 6abdf34cf0
commit d2f5adc813
10 changed files with 94 additions and 1022 deletions
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src/main/java/frc/robot/RobotContainer.java
+24 -72
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@@ -36,9 +36,8 @@ public class RobotContainer {
/* 手柄 */
/* ====================== */
// 使用两个 Xbox 手柄：0 号给底盘驾驶，1 号给机构操作员。
private final CommandXboxController controllerlower = new CommandXboxController(0);
private final CommandXboxController controllerupper = new CommandXboxController(1);
// 使用一个 Xbox 手柄：0 号口同时负责底盘驾驶和机构操作。
private final CommandXboxController controller = new CommandXboxController(0);
/* ====================== */
/* 子系统 */
@@ -70,7 +69,7 @@ public class RobotContainer {
/* 控制封装/调参 */
/* ====================== */
public final DriveControls driveControls = new DriveControls(drivetrain, controllerlower, superstructure);
public final DriveControls driveControls = new DriveControls(drivetrain, controller, superstructure);
// 操作员意图层替代旧的射击/进球分离控制类，让复杂动作判断集中留在 Superstructure。
private final OperatorControls operatorControls = new OperatorControls(superstructure, shooterSubsystem);
@@ -78,16 +77,8 @@ public class RobotContainer {
private final GameData2026 gameData2026 = new GameData2026();
private ConfigTalonFXMotorTuner configFlywheelTuner =
new ConfigTalonFXMotorTuner(shooterSubsystem.leftFlywheel, "flywheel", Constants.Shooter.flyWheelSlot0Configs, false);
private ConfigTalonFXMotorTuner configConveyorTuner =
new ConfigTalonFXMotorTuner(shooterSubsystem.leftConveyor, "conveyor", Constants.Shooter.conveyorSlot0Configs, false);
private ConfigTalonFXSMotorTuner configBackboardTuner =
new ConfigTalonFXSMotorTuner(shooterSubsystem.backboardMotor, "backboard", Constants.Shooter.backboardSlot0Configs);
private ConfigTalonFXMotorTuner configMainConveyorTuner =
new ConfigTalonFXMotorTuner(conveyorSubsystem.mainConveyor, "mainconveyor", Constants.Conveyor.mainConveyorSlot0Configs);
private ConfigTalonFXMotorTuner configIntakerRollerTuner =
new ConfigTalonFXMotorTuner(intakeRollerSubsystem.leftIntakeRoller, "intakerroller", Constants.Intaker.intakeRollerSlot0Configs);
private ConfigTalonFXMotorTuner configIntakerRotaterTuner =
new ConfigTalonFXMotorTuner(intakeRotaterSubsystem.leftIntakeRotater, "intakerrotater", Constants.Intaker.intakeRotaterSlot0Configs);
private final SendableChooser<Command> autoChooser;
private final Trigger enableTrigger = new Trigger(DriverStation::isEnabled);
@@ -128,44 +119,12 @@ public class RobotContainer {
// 禁用状态下进入空闲命令，防止模块继续响应上一周期的运动请求。
RobotModeTriggers.disabled().whileTrue(driveControls.idleCommand());
// 左保险：按住刹车。
controllerlower.leftBumper()
.onTrue(Commands.runOnce(driveControls::emergencyStop))
.whileTrue(driveControls.brakeWhileHeld());
// 右保险：按住开启加速模式，松开后恢复普通速度。
controllerlower.rightBumper()
.onTrue(Commands.runOnce(() -> driveControls.setBoostEnabled(true)))
.onFalse(Commands.runOnce(() -> driveControls.setBoostEnabled(false)));
// Back 键：重置场地坐标系角度。
controllerlower.back().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric));
// Start 键：强行使用 shooter 侧 Limelight 的 MegaTag2 全场定位。
controllerlower.start().whileTrue(drivetrain.run(drivetrain::forceUsingLimelightmt2));
controllerlower.a().whileTrue(drivetrain.run(() -> {
drivetrain.forceUsingLimelightmt2WithllName(Constants.Limelight.LIMELIGHT_NAME_Shooter);
System.out.println("Try using shooter for metatag2");
}));
controllerlower.b().whileTrue(drivetrain.run(() -> {
drivetrain.forceUsingLimelightmt2WithllName(Constants.Limelight.LIMELIGHT_NAME_Intaker);
System.out.println("Try using intaker for metatag2");
}));
controller.back().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric));
// 预留的左摇杆自动瞄准切换，当前保持注释，避免改变驾驶员已习惯的按键。
// controllerlower.leftStick().onTrue(operatorControls.requestAimHubCommand());
// controllerlower.leftStick().onFalse(operatorControls.requestIdleCommand());
// 上操作员右保险：按住进入自动瞄准模式，松开回到全手动模式。
Trigger autoAim = controllerupper.rightBumper(); // 可按需要再并入驾驶员左摇杆。
autoAim.onTrue(operatorControls.requestAimHubCommand());
autoAim.onFalse(operatorControls.requestIdleCommand());
// 上操作员左保险：按住进入传球模式，松开回到全手动模式。
Trigger autoAim2 = controllerupper.leftBumper(); // 可按需要再并入驾驶员左摇杆。
autoAim2.onTrue(operatorControls.requestPassBallCommand());
autoAim2.onFalse(operatorControls.requestIdleCommand());
// controller.leftStick().onTrue(operatorControls.requestAimHubCommand());
// controller.leftStick().onFalse(operatorControls.requestIdleCommand());
}
@@ -175,18 +134,17 @@ public class RobotContainer {
// 这些命令 require Superstructure，与自动程序共用需求；
// 用 teleop 门控避免自动赛阶段误触直接取消整个 PathPlanner 自动。
Trigger teleopOnly = RobotModeTriggers.teleop();
controllerupper.rightTrigger().and(teleopOnly)
controller.rightTrigger().and(teleopOnly)
.onTrue(operatorControls.requestShootHubCommand())
.onFalse(operatorControls.requestIdleCommand());
controllerupper.b().and(teleopOnly)
controller.rightBumper().and(teleopOnly)
.onTrue(operatorControls.requestEjectCommand())
.onFalse(operatorControls.requestIdleCommand());
controllerupper.povLeft().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVelocityOffset(-1.0)));
controllerupper.povRight().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVelocityOffset(1.0)));
controllerupper.povUp().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(100)));
controllerupper.povDown().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(-100)));
controllerupper.back().onTrue(Commands.runOnce(() -> operatorControls.resetOffsets()));
controllerupper.start().onTrue(operatorControls.resetBackboardCommand());
controller.povLeft().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVelocityOffset(-1.0)));
controller.povRight().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVelocityOffset(1.0)));
controller.povUp().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(100)));
controller.povDown().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(-100)));
controller.start().onTrue(operatorControls.resetBackboardCommand());
}
private void bingdingLED() {
@@ -198,16 +156,13 @@ public class RobotContainer {
}
public void tunerPeriodic() {
boolean allowMotorOutputTuning = DriverStation.isTest();
driveGainsTuner.periodic();
configFlywheelTuner.periodic(() -> shooterSubsystem.applyLeftConfigurationToRight());
shooterSubsystem.debugFlywheelVelocityPeriodic();
configConveyorTuner.periodic(null);
shooterSubsystem.debugShooterConveyorVelocityPeriodic();
configBackboardTuner.periodic();
shooterSubsystem.debugBackboardTargetPeriodic();
configMainConveyorTuner.periodic(null);
configIntakerRollerTuner.periodic(null);
configIntakerRotaterTuner.periodic(null);
shooterSubsystem.debugFlywheelVelocityPeriodic(allowMotorOutputTuning);
shooterSubsystem.debugBackboardTargetPeriodic(allowMotorOutputTuning);
shooterSubsystem.setRightFlywheelFollowLeft();
shooterSubsystem.setRightConveyorFollowLeft();
}
@@ -219,27 +174,24 @@ public class RobotContainer {
private void configueIntaker() {
// 进球相关按钮也只请求 Superstructure 状态；intaker 开赛后默认保持下放。
Trigger teleopOnly = RobotModeTriggers.teleop();
controllerupper.leftTrigger().and(teleopOnly)
controller.leftTrigger().and(teleopOnly)
.onTrue(operatorControls.requestPassBallCommand())
.onFalse(operatorControls.requestIdleCommand());
controller.leftBumper().and(teleopOnly)
.onTrue(operatorControls.requestIntakeCommand())
.onFalse(operatorControls.requestIdleCommand());
Trigger manualRaiseIntaker = controllerupper.x().and(teleopOnly);
Trigger manualRaiseIntaker = controller.y().and(teleopOnly);
manualRaiseIntaker
.onTrue(operatorControls.requestManualCommand())
.whileTrue(operatorControls.manualRaiseIntakeRotaterCommand(intakeRotaterSubsystem))
.onFalse(operatorControls.requestIdleCommand());
Trigger manualLowerIntaker = controllerupper.a().and(teleopOnly);
Trigger manualLowerIntaker = controller.a().and(teleopOnly);
manualLowerIntaker
.onTrue(operatorControls.requestManualCommand())
.whileTrue(operatorControls.manualLowerIntakeRotaterCommand(intakeRotaterSubsystem))
.onFalse(operatorControls.requestIdleCommand());
controllerupper.y().and(teleopOnly)
.onTrue(Commands.sequence(
operatorControls.requestManualCommand(),
operatorControls.lowerIntakeRotaterForMatchCommand(intakeRotaterSubsystem),
operatorControls.requestIdleCommand()
));
}
}