243 lines
11 KiB
Java
243 lines
11 KiB
Java
package frc.robot;
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import com.ctre.phoenix6.SignalLogger;
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import com.pathplanner.lib.auto.AutoBuilder;
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import edu.wpi.first.math.geometry.Pose2d;
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import edu.wpi.first.wpilibj.DriverStation;
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import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.Commands;
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import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
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import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
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import edu.wpi.first.wpilibj2.command.button.Trigger;
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import frc.robot.controls.Autocommand;
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import frc.robot.controls.DriveControls;
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import frc.robot.controls.OperatorControls;
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import frc.robot.generated.TunerConstants;
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import frc.robot.subsystems.CommandSwerveDrivetrain;
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import frc.robot.subsystems.ConveyorSubsystem;
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import frc.robot.subsystems.IntakeRollerSubsystem;
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import frc.robot.subsystems.IntakeRotaterSubsystem;
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import frc.robot.subsystems.LEDSubsystem;
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import frc.robot.subsystems.LimelightSubsystem;
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import frc.robot.subsystems.ShooterSubsystem;
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import frc.robot.subsystems.Superstructure;
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import frc.robot.tuning.ConfigTalonFXMotorTuner;
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import frc.robot.tuning.ConfigTalonFXSMotorTuner;
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import frc.robot.tuning.DriveGainsTuner;
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import frc.robot.utils.GameData2026;
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import frc.robot.utils.LedBindings;
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public class RobotContainer {
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/* ====================== */
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/* 手柄 */
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/* ====================== */
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// 使用两个 Xbox 手柄：0 号给底盘驾驶，1 号给机构操作员。
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private final CommandXboxController controllerlower = new CommandXboxController(0);
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private final CommandXboxController controllerupper = new CommandXboxController(1);
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/* ====================== */
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/* 子系统 */
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/* ====================== */
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// 这里继续使用 Phoenix TunerX 生成的底盘，避免改动已经验证过的 swerve 底层。
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public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
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public final ShooterSubsystem shooterSubsystem = new ShooterSubsystem();
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public final IntakeRollerSubsystem intakeRollerSubsystem = new IntakeRollerSubsystem();
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public final IntakeRotaterSubsystem intakeRotaterSubsystem = new IntakeRotaterSubsystem();
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public final ConveyorSubsystem conveyorSubsystem = new ConveyorSubsystem();
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public final LimelightSubsystem limelightSubsystem = new LimelightSubsystem();
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// Superstructure 是所有得分机构的唯一调度器。
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// 控制层和自动命令只能向它请求状态，不能直接命令电机。
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public final Superstructure superstructure = new Superstructure(
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shooterSubsystem,
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intakeRollerSubsystem,
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intakeRotaterSubsystem,
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conveyorSubsystem,
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drivetrain,
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limelightSubsystem
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);
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// LED 子系统仍然只负责灯带显示，不参与机构状态判断。
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private final LEDSubsystem leds = new LEDSubsystem(0, 72, 0); // 总长度 = 72 + 72
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/* ====================== */
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/* 控制封装/调参 */
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/* ====================== */
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public final DriveControls driveControls = new DriveControls(drivetrain, controllerlower, superstructure);
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// 操作员意图层替代旧的射击/进球分离控制类，让复杂动作判断集中留在 Superstructure。
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private final OperatorControls operatorControls = new OperatorControls(superstructure, shooterSubsystem);
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private final DriveGainsTuner driveGainsTuner = new DriveGainsTuner(drivetrain);
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private final GameData2026 gameData2026 = new GameData2026();
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private ConfigTalonFXMotorTuner configFlywheelTuner =
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new ConfigTalonFXMotorTuner(shooterSubsystem.leftFlywheel, "flywheel", Constants.Shooter.flyWheelSlot0Configs);
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private ConfigTalonFXMotorTuner configConveyorTuner =
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new ConfigTalonFXMotorTuner(shooterSubsystem.leftConveyor, "conveyor", Constants.Shooter.conveyorSlot0Configs);
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private ConfigTalonFXSMotorTuner configBackboardTuner =
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new ConfigTalonFXSMotorTuner(shooterSubsystem.backboardMotor, "backboard", Constants.Shooter.backboardSlot0Configs);
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private ConfigTalonFXMotorTuner configMainConveyorTuner =
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new ConfigTalonFXMotorTuner(conveyorSubsystem.mainConveyor, "mainconveyor", Constants.Conveyor.mainConveyorSlot0Configs);
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private ConfigTalonFXMotorTuner configIntakerRollerTuner =
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new ConfigTalonFXMotorTuner(intakeRollerSubsystem.leftIntakeRoller, "intakerroller", Constants.Intaker.intakeRollerSlot0Configs);
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private ConfigTalonFXMotorTuner configIntakerRotaterTuner =
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new ConfigTalonFXMotorTuner(intakeRotaterSubsystem.leftIntakeRotater, "intakerrotater", Constants.Intaker.intakeRotaterSlot0Configs);
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private final SendableChooser<Command> autoChooser;
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private final Trigger enableTrigger = new Trigger(DriverStation::isEnabled);
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public RobotContainer() {
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Pose2d startingPose = Constants.StartingPoints.Red.Point2;
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drivetrain.resetPose(startingPose);
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configueSwerve();
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configueShooter();
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bingdingLED();
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configueIntaker();
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Autocommand.preNameCommands(
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superstructure,
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intakeRotaterSubsystem,
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driveControls,
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operatorControls
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);
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SignalLogger.enableAutoLogging(false);
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autoChooser = AutoBuilder.buildAutoChooser();
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SmartDashboard.putData("Auto Chooser", autoChooser);
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}
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/* ====================== */
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/* 底盘配置 */
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/* ====================== */
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private void configueSwerve() {
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enableTrigger.onTrue(driveControls.getAllianceColorCommand());
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Pose2d startingPose = Constants.StartingPoints.Red.Point2;
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drivetrain.resetPose(startingPose);
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// 默认驾驶命令说明：
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// 左摇杆 X 控制底盘左右平移。
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// 左摇杆 Y 控制底盘前后平移，越障/壕沟偏移逻辑目前仍沿用旧状态。
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// 右摇杆 X 在自动瞄准模式下作为偏移量，在全手动模式下控制底盘旋转。
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drivetrain.setDefaultCommand(driveControls.defaultDriveCommand());
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// 禁用状态下进入空闲命令，防止模块继续响应上一周期的运动请求。
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RobotModeTriggers.disabled().whileTrue(driveControls.idleCommand());
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// 左保险：按住刹车。
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controllerlower.leftBumper()
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.onTrue(Commands.runOnce(driveControls::emergencyStop))
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.whileTrue(driveControls.brakeWhileHeld());
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// 右保险：按住开启加速模式，松开后恢复普通速度。
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controllerlower.rightBumper()
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.onTrue(Commands.runOnce(() -> driveControls.setBoostEnabled(true)))
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.onFalse(Commands.runOnce(() -> driveControls.setBoostEnabled(false)));
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// Back 键：重置场地坐标系角度。
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controllerlower.back().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric));
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// Start 键：强行使用 shooter 侧 Limelight 的 MegaTag2 全场定位。
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controllerlower.start().whileTrue(drivetrain.run(drivetrain::forceUsingLimelightmt2));
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controllerlower.a().whileTrue(drivetrain.run(() -> {
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drivetrain.forceUsingLimelightmt2WithllName(Constants.Limelight.LIMELIGHT_NAME_Shooter);
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System.out.println("Try using shooter for metatag2");
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}));
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controllerlower.b().whileTrue(drivetrain.run(() -> {
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drivetrain.forceUsingLimelightmt2WithllName(Constants.Limelight.LIMELIGHT_NAME_Intaker);
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System.out.println("Try using intaker for metatag2");
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}));
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// 预留的左摇杆自动瞄准切换，当前保持注释，避免改变驾驶员已习惯的按键。
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// controllerlower.leftStick().onTrue(operatorControls.requestAimHubCommand());
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// controllerlower.leftStick().onFalse(operatorControls.requestIdleCommand());
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// 上操作员右保险：按住进入自动瞄准模式，松开回到全手动模式。
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Trigger autoAim = controllerupper.rightBumper(); // 可按需要再并入驾驶员左摇杆。
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autoAim.onTrue(operatorControls.requestAimHubCommand());
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autoAim.onFalse(operatorControls.requestIdleCommand());
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// 上操作员左保险：按住进入传球模式，松开回到全手动模式。
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Trigger autoAim2 = controllerupper.leftBumper(); // 可按需要再并入驾驶员左摇杆。
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autoAim2.onTrue(operatorControls.requestPassBallCommand());
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autoAim2.onFalse(operatorControls.requestIdleCommand());
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}
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private void configueShooter() {
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// 射击相关按钮只请求 Superstructure 状态；是否喂球由 Superstructure
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// 根据飞轮速度和底盘瞄准统一判断。
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// 这些命令 require Superstructure，与自动程序共用需求；
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// 用 teleop 门控避免自动赛阶段误触直接取消整个 PathPlanner 自动。
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Trigger teleopOnly = RobotModeTriggers.teleop();
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controllerupper.rightTrigger().and(teleopOnly)
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.onTrue(operatorControls.requestShootHubCommand())
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.onFalse(operatorControls.requestIdleCommand());
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controllerupper.b().and(teleopOnly)
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.onTrue(operatorControls.requestEjectCommand())
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.onFalse(operatorControls.requestIdleCommand());
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controllerupper.povLeft().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVoltageOffset(-0.1)));
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controllerupper.povRight().onTrue(Commands.runOnce(() -> operatorControls.adjustFlywheelVoltageOffset(0.1)));
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controllerupper.povUp().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(100)));
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controllerupper.povDown().onTrue(Commands.runOnce(() -> operatorControls.adjustBackboardRateOffset(-100)));
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controllerupper.back().onTrue(Commands.runOnce(() -> operatorControls.resetOffsets()));
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controllerupper.start().onTrue(operatorControls.resetBackboardCommand());
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}
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private void bingdingLED() {
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LedBindings.bindModeIndicators(leds);
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}
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public Command getAutonomousCommand() {
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return autoChooser.getSelected();
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}
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public void tunerPeriodic() {
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driveGainsTuner.periodic();
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configFlywheelTuner.periodic(() -> shooterSubsystem.applyLeftConfigurationToRight());
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configConveyorTuner.periodic(null);
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configBackboardTuner.periodic();
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shooterSubsystem.debugBackboardTargetPeriodic();
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configMainConveyorTuner.periodic(null);
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configIntakerRollerTuner.periodic(null);
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configIntakerRotaterTuner.periodic(null);
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shooterSubsystem.setRightConveyorFollowLeft();
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}
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public void dashboardPeriodic() {
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gameData2026.periodic();
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}
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private void configueIntaker() {
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// 进球相关按钮也只请求 Superstructure 状态；intaker 开赛后默认保持下放。
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Trigger teleopOnly = RobotModeTriggers.teleop();
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controllerupper.leftTrigger().and(teleopOnly)
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.onTrue(operatorControls.requestIntakeCommand())
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.onFalse(operatorControls.requestIdleCommand());
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Trigger manualRaiseIntaker = controllerupper.x().and(teleopOnly);
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manualRaiseIntaker
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.onTrue(operatorControls.requestManualCommand())
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.whileTrue(operatorControls.manualRaiseIntakeRotaterCommand(intakeRotaterSubsystem))
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.onFalse(operatorControls.requestIdleCommand());
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Trigger manualLowerIntaker = controllerupper.a().and(teleopOnly);
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manualLowerIntaker
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.onTrue(operatorControls.requestManualCommand())
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.whileTrue(operatorControls.manualLowerIntakeRotaterCommand(intakeRotaterSubsystem))
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.onFalse(operatorControls.requestIdleCommand());
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controllerupper.y().and(teleopOnly)
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.onTrue(Commands.sequence(
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operatorControls.requestManualCommand(),
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operatorControls.lowerIntakeRotaterForMatchCommand(intakeRotaterSubsystem),
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operatorControls.requestIdleCommand()
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));
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}
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}
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