admin6494/FRC6494_2026Regional-offseason
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OnDYCLaptop 0c97452a13 Merge branch '7.4' of https://github.com/HarryWang163/FRC6494_2026Regional into 7.4 2026-07-04 21:08:04 +08:00
OnDYCLaptop a78a71e4ed 小改 2026-07-04 20:58:14 +08:00
dingdoorfiah-ui fad52c40c0 Merge pull request #2 from vic233333/claude/frc-postseason-refactor-wepjot 
Claude/frc postseason refactor wepjot
 2026-07-04 20:56:05 +08:00
Claude 9da20a108c 修复审查发现的自动赛与状态机问题 
- rotater 开机默认按收拢姿态归零（assumeZeroedOnBoot，可关），
  否则自动赛无人能按归零键，收球和射击被未归零保护永久拦下
- 预装球开机默认持球（assumePreloadedAtBoot，可关），
  否则自动赛第一发被 hasNote 门控拦死
- 新增操作员 X 键运行时翻转持球状态，纠正无传感器推断的失真
- 进入禁用前结算持球推断：SHOOTING 中被禁用视为球已射出，
  INDEXING 中被禁用视为球已入传送带
- 未归零被拦下的 intake 转射击不再误置持球
- CLEANUP 结束不再强写 wantedState=IDLE，清理窗口内重按射击键不会被吞
- 机构请求按键加 teleop 门控，防止自动赛误触取消 PathPlanner 自动程序

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01YTEBmjtkz1ouCmn5yytFti
 2026-07-04 12:30:02 +00:00
Claude 6264ef0762 季后赛重构：补完 Superstructure 状态机与射击门控 
- Superstructure 增加 INDEXING/HOLDING_NOTE 状态，实现完整状态流转：
  DEPLOYING_INTAKE -> INTAKING -> INDEXING -> HOLDING_NOTE ->
  SPINNING_UP -> AIMING -> READY_TO_SHOOT -> SHOOTING -> CLEANUP
- canShoot 门控补全：atSpeed && isAimed && rotaterAtGoal && hasNote && 底盘近静止
  （hasNote/静止门控均可在 Constants 中旁路）
- 无传感器持球跟踪：INDEXING 完成置位、射击/EJECT 后清空，
  未归零被拦下的 intake 不会误置持球
- DriveControls 在既有 hub 方位角计算处同步 setTargetHeading，
  使 isAimed 门控与 AutoAimming 实际瞄准同源；自动阶段经 pushDistanceData 保持更新
- 移除 Superstructure 基于 limelight tx 的瞄准更新（符号错误且无目标时滞留旧值）
- 背板回零命令下沉到 ShooterSubsystem，OperatorControls 不再直接操作电机
- ShooterSubsystem 清理旧别名与闭环遗留接口，背板独立控制请求
- 射表改为 InterpolatingDoubleTreeMap（Constants.Shooter.flywheelRpsByDistance）
- IntakeRotater：未归零时 atGoal 一律 false，新增 blockedByNotZeroed 遥测；
  atGoal 容差改为非零占位值
- 修复 gradlew 缺少可执行权限

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01YTEBmjtkz1ouCmn5yytFti
 2026-07-04 12:19:50 +00:00
OnDYCLaptop 3c5d17b527 gpt的超级状态机 2026-07-04 15:02:09 +08:00
OnDYCLaptop 132b231c36 新底盘 2026-07-03 21:43:14 +08:00
OnDYCLaptop 99a92af429 计时器 2026-06-16 12:12:24 +08:00
OnDYCLaptop af1095cf50 不知道是个啥 2026-05-05 16:20:56 +08:00
OnDYCLaptop 055642a37e 完整正赛 2026-03-16 16:10:50 +08:00
OnDYCLaptop 6196da8a23 Have Climber 2026-03-15 08:42:33 +08:00
OnDYCLaptop be6342b597 优化自动程序 2026-03-12 15:55:24 +08:00
OnDYCLaptop f66ea4a188 修复自动突然终止 电机速度参数仍存在的bug 2026-03-11 01:13:40 +08:00
OnDYCLaptop be328661c7 修改版 2026-03-11 00:53:35 +08:00
OnDYCLaptop 1d0454dc58 Merge branch '1' of https://github.com/HarryWang163/FRC6494_2026Regional into 1 2026-03-11 00:21:29 +08:00
OnDYCLaptop 95fabf94ff 1 2026-03-11 00:18:47 +08:00
OnDYCLaptop d5db9c75c4 屎1.1 2026-03-10 21:20:47 +08:00
OnDYCLaptop 1f397e6b6e 屎 2026-03-10 21:01:01 +08:00
OnDYCLaptop 50c9af952c 若自动爬升 则手动阶段自动让钩子下降（待测试 2026-03-10 16:30:07 +08:00
OnDYCLaptop 8b70832978 修正可调背板 使默认位置为0（待测试） 2026-03-09 13:08:13 +08:00
OnDYCLaptop fe72a45c4b 蓝方path 2026-03-09 13:04:13 +08:00
OnDYCLaptop 9e00148138 添加自动射球时的shake 2026-03-09 12:27:28 +08:00
OnDYCLaptop 69e86905ba 修复报错 2026-03-09 12:18:18 +08:00
OnDYCLaptop c8b7359b99 自动瞄准+射球已封装 增加conveyor独立控制 2026-03-09 12:17:42 +08:00
OnDYCLaptop 9a426a8f8a 自动2.1 2026-03-09 09:51:26 +08:00
OnDYCLaptop 8b2df6ce7c 自动2.0 2026-03-09 09:47:22 +08:00
OnDYCLaptop 196b3ce77f namedcontrol已调用 2026-03-08 11:16:18 +08:00
OnDYCLaptop 3323fb511e 手动修复已知问题 自动第一版 2026-03-08 10:48:45 +08:00
OnDYCLaptop f68847d3e7 修复已知问题 2026-03-07 22:24:01 +08:00
OnDYCLaptop 056362fe10 climb修改 2026-03-07 12:43:00 +08:00
OnDYCLaptop 093a0b93c9 Merge branch '1' of https://github.com/HarryWang163/FRC6494_2026Regional into 1 2026-03-07 00:11:03 +08:00
OnDYCLaptop 74bf1b992d 2 2026-03-07 00:09:57 +08:00
Alyssum-chenyiyi 31b00a4cf3 Merge branch '1' of https://github.com/HarryWang163/FRC6494_2026Regional into 1 2026-03-06 19:41:28 +08:00
Alyssum-chenyiyi 6fe9613b67 climber limelight 0306 2026-03-06 19:40:10 +08:00
OnDYCLaptop de76680191 Merge branch '1' of https://github.com/HarryWang163/FRC6494_2026Regional into 1 2026-03-06 17:31:52 +08:00
OnDYCLaptop 83c06bd0e6 修复底盘自动瞄准trench和bmp 2026-03-06 17:29:43 +08:00
Alyssum-chenyiyi f8fc037959 climber limelight 2026-03-06 17:27:42 +08:00
OnDYCLaptop 0536a3bcd4 修复已知问题 2026-03-06 15:03:26 +08:00
OnDYCLaptop ce8b17e377 conveyor修复 2026-03-06 14:32:16 +08:00
OnDYCLaptop 7cee19994f 1 2026-03-05 20:44:11 +08:00
OnDYCLaptop f31b614cc3 Merge branch '1' of https://github.com/HarryWang163/FRC6494_2026Regional into 1 2026-03-05 20:30:33 +08:00
OnDYCLaptop 921a11b31a conveyor有bug版 2026-03-05 20:28:43 +08:00
OnDYCLaptop 0da9ee5f36 climber 2026-03-05 19:34:24 +08:00
OnDYCLaptop f7eb1d7d26 底盘修正ing 2026-03-05 19:29:06 +08:00
Alyssum-chenyiyi a8acbce9dc climber 2026-03-05 19:21:24 +08:00
Alyssum-chenyiyi b236f43f4d climb auto 2026-03-05 18:57:57 +08:00
OnDYCLaptop ebcf6ff3c3 for limelight 2026-03-05 16:48:24 +08:00
OnDYCLaptop 118fdc4086 细化传球 待打表 2026-03-05 15:41:05 +08:00
OnDYCLaptop 6d996a35cd 传入了所有场地坐标参数 上层操作手可控制底盘瞄准 传球待测试 2026-03-05 12:39:53 +08:00
OnDYCLaptop 042d483b16 电压闭环的shooter 双操均可触发autoaim intaker已验证 2026-03-05 12:18:12 +08:00