From fe6c097947702463e8ef06adf770cbb5c8392994 Mon Sep 17 00:00:00 2001
From: Alyssum-chenyiyi <13162501939@163.com>
Date: Tue, 3 Mar 2026 19:37:30 +0800
Subject: [PATCH] 0303

0
---
 src/main/java/frc/robot/Constants.java        |  8 ++---
 src/main/java/frc/robot/RobotContainer.java   |  2 +-
 .../robot/subsystems/ClimberSubsystem.java    |  1 -
 .../robot/subsystems/IntakerSubsystem.java    | 29 ++++++++++++-------
 4 files changed, 23 insertions(+), 17 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index f149667..c906349 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -97,8 +97,8 @@ public final class Constants {
     public class Intaker {
 
     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 double intakeRotaterDownLimit = -7.6;  // rotator下限角度
+    public static final double intakeRotaterVelocity = 5; // rotater的速度（如果你用速度控制的话）
     public static final double IntakeRotaterGravityFF = 0.0; // 重力前馈增益（需要实测调整）
 
     public static final Slot0Configs intakeGetterSlot0Configs = new Slot0Configs()
@@ -115,8 +115,8 @@ public final class Constants {
     // 单位RPS
     public static final double positionToleranceRotations = 0.00;
     //rotater容差
-    public static final double IntakeGetterK = 1.0; // intake getter速度与触发器输入的比例
-    public static final double Getterminspeed = 20; // intake getter的基础速度（即触发器输入为0时的速度，正值表示默认向内转）
+    public static final double IntakeGetterK = 0.3; // intake getter速度与触发器输入的比例
+    public static final double Getterminspeed = 0.2; // intake getter的基础速度（即触发器输入为0时的速度，正值表示默认向内转）
     }   
     public static class Climber {
 
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3054905..0343765 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -73,7 +73,7 @@ public class RobotContainer {
     SignalLogger.enableAutoLogging(false);
     autoChooser = AutoBuilder.buildAutoChooser();
     SmartDashboard.putData("Auto Chooser", autoChooser);
-    configueSwerve();
+    //configueSwerve();
     configueShooter();
     configueClimber();
     bingdingLED();
diff --git a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
index 855bf5f..10436d9 100644
--- a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java
@@ -25,7 +25,6 @@ public class ClimberSubsystem extends SubsystemBase {
     private final VelocityVoltage velocityRequest = new VelocityVoltage(0).withSlot(0);
 
     private double holdPositionTicks = 0.0;
-    private double deltaPositionTicks = 0.0;
 
     private final NetworkTable climberTable;
     
diff --git a/src/main/java/frc/robot/subsystems/IntakerSubsystem.java b/src/main/java/frc/robot/subsystems/IntakerSubsystem.java
index 50259f4..603947b 100644
--- a/src/main/java/frc/robot/subsystems/IntakerSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/IntakerSubsystem.java
@@ -76,7 +76,7 @@ public class IntakerSubsystem extends SubsystemBase{
     //     }
     // }
     public void setIntakerGetterSpeed(double speed) {
-        intakegetter.setControl(velocityRequest.withVelocity(speed));
+        intakegetter.set(speed);
     }
     public void zeroEncoder(){
         intakerotater.setPosition(0);
@@ -84,18 +84,25 @@ public class IntakerSubsystem extends SubsystemBase{
     }
     public void IntakerDownNonStop(){
         double currentPosition = getIntakerotaterPosition();
-        if (currentPosition < Constants.Intaker.intakeRotaterDownLimit) {
-            intakerotater.setControl(velocityRequest.withVelocity(Constants.Intaker.intakeRotaterVelocity));
-        } else {
-            stopIntakerotater();
-        }
+        if (currentPosition > Constants.Intaker.intakeRotaterDownLimit) {
+        
+        intakerotater.set(-0.05);}
+        // 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();
-        }
+        if (currentPosition < Constants.Intaker.intakeRotaterUpLimit) {
+        intakerotater.set(0.1);}
+        
+        // if (currentPosition < Constants.Intaker.intakeRotaterUpLimit) {
+        //     intakerotater.setControl(velocityRequest.withVelocity(-Constants.Intaker.intakeRotaterVelocity));
+        // } else {
+        //     stopIntakerotater();
+        // }
     }
 }