修复自动突然终止 电机速度参数仍存在的bug

src/main/java/frc/robot/Robot.java

@@ -8,6 +8,7 @@ import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc.robot.subsystems.ShooterSubsystem;
 
 public class Robot extends TimedRobot {
     private Command m_autonomousCommand;
@@ -26,7 +27,12 @@ public class Robot extends TimedRobot {
     }
 
     @Override
-    public void disabledInit() {}
+    public void disabledInit() {
+        System.out.println("Robot disabledInit called");
+        m_robotContainer.shooterSubsystem.stopAll();
+        m_robotContainer.climberSubsystem.stopAll();
+        m_robotContainer.IntakerSubsystem.stopAll();
+    }
 
     @Override
     public void disabledPeriodic() {}

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

@@ -126,6 +126,10 @@ public class ClimberSubsystem extends SubsystemBase {
         autoClimbUsedInAuto = false;
     }
 
+    public void stopAll() {
+        climberMotor.set(0);
+    }
+
     @Override
     public void periodic() {
         climberTable.getEntry("velocityRps").setDouble(getVelocityRps());

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

@@ -106,4 +106,8 @@ public class IntakerSubsystem extends SubsystemBase{
     public void setIntakerRotater(double rotaterspeed){
         intakerotater.set(rotaterspeed);
     }
+    public void stopAll() {
+        stopIntakerotater();
+        setIntakerGetterSpeed(0);
+    }
 }

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

@@ -185,4 +185,9 @@ public class ShooterSubsystem extends SubsystemBase {
     public double getDistanceToPassball(){
         return NetworkTableInstance.getDefault().getTable("AutoControl").getEntry("distanceToPassball").getDouble(0.0);
     }
+    public void stopAll() {
+        setFlywheelSpeedByRPS(0);
+        setConveyorSpeedByRPS(0);
+        backboardMotor.set(0);
+    }
 }