Merge branch '1' of https://github.com/HarryWang163/FRC6494_2026Regional into 1

src/main/java/frc/robot/Constants.java

@@ -78,12 +78,18 @@ public final class Constants {
         public static final String LIMELIGHT_NAME_Shooter = "limelight-shooter";
         public static final String LIMELIGHT_NAME_Intaker = "limelight-intaker";
         public static final Boolean UsingMetaTag2 = true;
+<<<<<<< HEAD
         public static final int Pipeline = 1;
         public static final double TXDeadHand = 0.5;
         public static final double TZDeadHand = 0.5;
         public static final double AutoClimbAlignSpeed = 0.1;
         public static final double AutoClimbAlignTolerance = 0.1;
         public static final double AutoClimbmaxAngularVelocity = 0.1;
+=======
+        public static final double AutoClimbAlignSpeed = 0.5;//等查资料
+        public static final double AutoClimbAlignTolerance = 0.1;//？
+        public static final double AutoClimbmaxAngularVelocity  = 0.5;//等查资料
+>>>>>>> a8acbce9dc302adc52e28e6f8c205677f50ea20e
     }
 
     public class Field {

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

@@ -144,6 +144,11 @@ public class RobotContainer {
     controllerlower.a()
     .onTrue(robotStatusManager.setStatusCommand(RobotStatus.Climbing))
     .onFalse(robotStatusManager.setStatusCommand(RobotStatus.AllTelop));
+<<<<<<< HEAD
+=======
+
+
+>>>>>>> a8acbce9dc302adc52e28e6f8c205677f50ea20e
   }
 
   private void configueShooter(){

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

@@ -131,6 +131,14 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         ); 
     }
 
+<<<<<<< HEAD
+=======
+    
+
+
+
+        
+>>>>>>> a8acbce9dc302adc52e28e6f8c205677f50ea20e
     private static final double kMaxVisionJumpMeters = 1.0;
     private static final double kMaxOmegaDegPerSec = 360.0;
 
@@ -274,6 +282,10 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
 
         return true;
     }
+<<<<<<< HEAD
+=======
+
+>>>>>>> a8acbce9dc302adc52e28e6f8c205677f50ea20e
     public String driveToAprilTag(){
         //Rotation2d targetHeading = getPose().getRotation();
         if(!LimelightSupplier.isTargetVisible() ){
@@ -284,12 +296,18 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         for(int id : new int[]{16,32}){
             if(id == trueId){
                 ifRightTag = true;
+<<<<<<< HEAD
                 System.out.println("Target get.");
+=======
+>>>>>>> a8acbce9dc302adc52e28e6f8c205677f50ea20e
                 break;
             }
         }
         if(!ifRightTag){
+<<<<<<< HEAD
             System.out.println("No Target.");
+=======
+>>>>>>> a8acbce9dc302adc52e28e6f8c205677f50ea20e
             return "No Target";
         }
         double tx = LimelightSupplier.getTX() ;

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

@@ -84,6 +84,7 @@ public class LimelightSupplier extends SubsystemBase {
         SmartDashboard.putString("LimelightPipeType", LimelightHelpers.getCurrentPipelineType(Constants.Limelight.LIMELIGHT_NAME_Intaker));
         if (isTargetVisible()){
             SmartDashboard.putString("LimelightTargetVisible", "YES");
+<<<<<<< HEAD
             // SmartDashboard.putNumber("LimelightTX", getTX());
             // SmartDashboard.putNumber("LimelightTY", getTY());
             SmartDashboard.putNumber("LimelightTA", getTA());
@@ -94,6 +95,9 @@ public class LimelightSupplier extends SubsystemBase {
             //     s += " ";
             // }
             // SmartDashboard.putString("LimeLightTP", s);
+=======
+            SmartDashboard.putNumber("LimelightTA", getTA());
+>>>>>>> a8acbce9dc302adc52e28e6f8c205677f50ea20e
             SmartDashboard.putNumber("TargetRY", getTargetRotationY());
             SmartDashboard.putNumber("TargetTX", getTX());
             SmartDashboard.putNumber("TargetTZ", getTargetTZ());