admin6494/FRC6494_2026Regional-offseason
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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/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();
}
}
}