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手动完成版（待测试）

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OnDYCLaptop
2026-03-03 12:37:50 +08:00
parent 85c7cb9fb3
commit fd4fb39a50
8 changed files with 96 additions and 30 deletions
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src/main/java/frc/robot/Constants.java
+4 -3
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@@ -98,6 +98,7 @@ public final class Constants {
public static final double intakeRotaterUpLimit = 0.0; // rotator上限角度
public static final double intakeRotaterDownLimit = 0.0; // rotator下限角度
public static final double intakeRotaterVelocity = 10; // rotater的速度（如果你用速度控制的话）
public static final Slot0Configs intakeGetterSlot0Configs = new Slot0Configs()
.withKP(0.00).withKI(0.00).withKD(0.00)
@@ -122,9 +123,9 @@ public final class Constants {
public static final boolean inverted = false;
public static final double climbUpTicks = 94; // TODO: 实测后调整
public static final double climbDownTicks = 0; // TODO: 实测后调整
public static final double climbDownVelocity = -200;
public static double climbUpTicks = 94; // TODO: 实测后调整
public static double climbDownTicks = 0; // TODO: 实测后调整
public static final double climbVelocity = -200;
public static final double holdToleranceRot = 0.5;
public static final double deltaDownTicks = 1;
src/main/java/frc/robot/RobotContainer.java
+6 -2
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@@ -160,10 +160,14 @@ public class RobotContainer {
}
private void configueClimber() {
enableTrigger.onTrue(climberControls.enableInitCommand());
climberSubsystem.setDefaultCommand(climberControls.defaultClimberCommand());
controllerupper.b().onTrue(climberControls.resetClimberEncoderCommand(climberSubsystem));
}
private void configueIntaker() {
IntakerSubsystem.setDefaultCommand(intakerControls.defaultIntakerCommand());
controllerupper.a().onTrue(intakerControls.resetIntakerRotaterEncoderCommand(IntakerSubsystem));
}
}
src/main/java/frc/robot/controls/Autocommand.java
+25
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@@ -4,7 +4,10 @@ import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc.robot.subsystems.ClimberSubsystem;
import frc.robot.RobotStatusManager;
import frc.robot.subsystems.IntakerSubsystem;
@@ -13,5 +16,27 @@ import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.Constants;
import frc.robot.Constants.RobotStatus;
public class Autocommand extends SequentialCommandGroup{
public static Command climb_up(ClimberSubsystem climber) {
return new RunCommand(() -> {
climber.climbUp(); // 控制爬升器上升
}, climber).withTimeout(1.0) //
.andThen(new InstantCommand(() -> {
climber.holdPosition(); // 停止并锁定当前爬升器位置
}, climber));
}
public static Command climb_down(ClimberSubsystem climber) {
return new RunCommand(() -> {
climber.climbDown(); // 控制爬升器下降
}, climber).withTimeout(1.0) //
.andThen(new InstantCommand(() -> {
climber.holdPosition(); // 停止并锁定当前爬升器位置
}, climber));
}
}
src/main/java/frc/robot/controls/ClimberControls.java
+7 -4
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@@ -23,11 +23,11 @@ public class ClimberControls {
public Command defaultClimberCommand() {
return Commands.run(()->{
//climber.climbUp();
// 优先级：如果同时按，优先上升（你也可以反过来）
if(controller.y().getAsBoolean()&&controller.x().getAsBoolean()){
if(controller.getRightY() < -0.5){
climber.climbDownNonStop();
}
else if (controller.y().getAsBoolean()) {
} else if(controller.getRightY() > 0.5){
climber.climbUpNonStop();
} else if (controller.y().getAsBoolean()) {
climber.climbUp();
} else if (controller.x().getAsBoolean()) {
climber.climbDown();
@@ -50,4 +50,7 @@ public class ClimberControls {
.withTimeout(0.5)
.andThen(Commands.runOnce(climber::zeroEncoder, climber));
}
public Command resetClimberEncoderCommand(ClimberSubsystem climber) {
return Commands.runOnce(climber::zeroEncoder, climber);
}
}
src/main/java/frc/robot/controls/IntakerControls.java
+18 -8
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@@ -10,13 +10,13 @@ import frc.robot.Constants;
public class IntakerControls {
private final IntakerSubsystem intakerSubsystem;
private final IntakerSubsystem IntakerSubsystem;
private final CommandXboxController controller;
private static final double ROTATER_STEP_PER_CYCLE = 0.00; // 需要你按实际速度调：越大越快（fromAI）
private static final double ROTATER_STEP_PER_CYCLE = 0.00;
public IntakerControls(IntakerSubsystem intakerSubsystem, CommandXboxController controller) {
this.intakerSubsystem = intakerSubsystem;
public IntakerControls(IntakerSubsystem Intaker, CommandXboxController controller) {
this.IntakerSubsystem = Intaker;
this.controller = controller;
}
@@ -73,8 +73,18 @@ public class IntakerControls {
if (controller.getLeftTriggerAxis() < 0.1) {
getterspeed = 0;
}
intakerSubsystem.setIntakerGetterSpeed(getterspeed);
}, intakerSubsystem);
IntakerSubsystem.setIntakerGetterSpeed(getterspeed);
if(controller.getLeftY() < -0.5){
IntakerSubsystem.IntakerDownNonStop();
} else if(controller.getLeftY() > 0.5){
IntakerSubsystem.IntakerUpNonStop();
} else {
IntakerSubsystem.stopIntakerotater();
}
}, IntakerSubsystem);
}
}
public Command resetIntakerRotaterEncoderCommand(IntakerSubsystem intakerSubsystem) {
return Commands.runOnce(intakerSubsystem::zeroEncoder, intakerSubsystem);
}
}
src/main/java/frc/robot/controls/ShooterControls.java
-1
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@@ -40,7 +40,6 @@ public class ShooterControls {
var xP = shooterSubsystem.getDistance();
//xP = Math.max(1.2, Math.min(4.5, xP));
flywheelSpeed = 0.6956596811733782*xP*xP*xP*xP*xP*xP*xP-14.164408860183267*xP*xP*xP*xP*xP*xP+119.7115375240918*xP*xP*xP*xP*xP-543.0984876677477*xP*xP*xP*xP+1425.1928543240738*xP*xP*xP-2156.199296490315*xP*xP+1736.568139600292*xP-516.097598057351;
flywheelSpeed += flywheelSpeedOffset;
backboardPosition = xP*xP;//todo:实测传球的时候的背板位置 打表
backboardPosition += backboardPositionOffset;
src/main/java/frc/robot/subsystems/ClimberSubsystem.java
+6 -2
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@@ -70,10 +70,14 @@ public class ClimberSubsystem extends SubsystemBase {
public void climbDown() {
targetPositionTicks = Constants.Climber.climbDownTicks;
climberMotor.setControl(positionHoldRequest.withPosition(targetPositionTicks));
}
public void climbDownNonStop(){
climberMotor.setControl(velocityRequest.withVelocity(Constants.Climber.climbDownVelocity));
climberMotor.setControl(velocityRequest.withVelocity(Constants.Climber.climbVelocity));
}
public void climbUpNonStop(){
climberMotor.setControl(velocityRequest.withVelocity(-Constants.Climber.climbVelocity));
}
public void captureHoldPosition() {
src/main/java/frc/robot/subsystems/IntakerSubsystem.java
+30 -10
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@@ -50,21 +50,41 @@ public class IntakerSubsystem extends SubsystemBase{
return error <= Constants.Intaker.positionToleranceRotations;
}
public void stopintakerotater() {
intakerotater.setControl(velocityRequest.withVelocity(0));
public void stopIntakerotater() {
intakerotater.set(0);
// 如果你希望停止后保持当前位置，建议改用中性模式/或维持 positionRequest（这句fromAI）
}
//intakegetter的on/off
public void setIntakeGetterOn(boolean on) {
if (on) {
intakegetter.setControl(velocityRequest.withVelocity(Constants.Intaker.IntakeGetterSpeed));
}
else {
intakegetter.setControl(velocityRequest.withVelocity(0));
}
}
// public void setIntakeGetterOn(boolean on) {
// if (on) {
// intakegetter.setControl(velocityRequest.withVelocity(Constants.Intaker.IntakeGetterSpeed));
// }
// else {
// intakegetter.setControl(velocityRequest.withVelocity(0));
// }
// }
public void setIntakerGetterSpeed(double speed) {
intakegetter.setControl(velocityRequest.withVelocity(speed));
}
public void zeroEncoder(){
intakerotater.setPosition(0);
stopIntakerotater();
}
public void IntakerDownNonStop(){
double currentPosition = getIntakerotaterPosition();
if (currentPosition < Constants.Intaker.intakeRotaterDownLimit) {
intakerotater.setControl(velocityRequest.withVelocity(Constants.Intaker.intakeRotaterVelocity));
} else {
stopIntakerotater();
}
}
public void IntakerUpNonStop(){
double currentPosition = getIntakerotaterPosition();
if (currentPosition > Constants.Intaker.intakeRotaterUpLimit) {
intakerotater.setControl(velocityRequest.withVelocity(-Constants.Intaker.intakeRotaterVelocity));
} else {
stopIntakerotater();
}
}
}