Claude
6264ef0762
- 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
189 lines
8.1 KiB
Java
189 lines
8.1 KiB
Java
package frc.robot;
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import com.ctre.phoenix6.configs.Slot0Configs;
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import edu.wpi.first.math.geometry.Pose2d;
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import edu.wpi.first.math.geometry.Rotation2d;
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import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
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public final class Constants {
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private Constants() {}
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public static final boolean LEDUsing = false;
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public enum RobotStatus {
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Stopped,
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AllTelop,
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PassingBall,
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AutoAimming,
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CrossingBump,
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CrossingTrench
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}
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public static class Shooter {
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// 机构 CAN ID 目前是占位值；季后赛最终接线确认后，只需要改这里。
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public static final int leftFlywheelID = 41;
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public static final int rightFlywheelID = 42;
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public static final int leftConveyorID = 43;
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public static final int rightConveyorID = 45;
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public static final int backboardMotorID = 44;
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public static final double flywheelVoltsPerRps = 0.12;
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public static final double flywheelIdleVoltage = 0.0;
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public static final double shooterConveyorVoltage = 6.0;
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public static final double shooterConveyorReverseVoltage = -4.0;
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public static final double flywheelSpeedToleranceRps = 5.0;
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public static final double defaultFlywheelTargetRps = 64.0;
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// 距离(米) -> 飞轮转速(RPS) 射表。当前为占位点；
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// 真车试射后按实测数据加点即可，查表自动线性插值并在两端取边界值。
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public static final InterpolatingDoubleTreeMap flywheelRpsByDistance = new InterpolatingDoubleTreeMap();
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static {
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flywheelRpsByDistance.put(1.2, 58.8);
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flywheelRpsByDistance.put(2.5, 64.0);
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flywheelRpsByDistance.put(3.5, 68.0);
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flywheelRpsByDistance.put(5.0, 74.0);
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}
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public static final double conveyorSpeed = 150;
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public static final double conveyorSpeedForAuto = 10;
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public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs()
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.withKP(0.0).withKI(0).withKD(0)
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.withKV(0.099).withKA(0.0).withKS(0.0);
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public static final Slot0Configs conveyorSlot0Configs = new Slot0Configs()
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.withKP(0.0).withKI(0).withKD(0)
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.withKV(0.16).withKA(0.15).withKS(0);
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public static final Slot0Configs backboardSlot0Configs = new Slot0Configs()
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.withKP(0.01).withKI(0).withKD(0)
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.withKV(0.03).withKA(0.0).withKS(0.010);
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public static class backboardPositionPID {
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public static final double kP = 0.3;
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public static final double kI = 0.0;
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public static final double kD = 0.0;
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}
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public static final double backboardSpeedMax = 60;
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public static final double backboardUpLimit = 3000.0;
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public static final double backboardDownLimit = 0.0;
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}
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public static class AutoPositioning {
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public static final double autoRotationkP = 0.08;
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public static final double autoRotationForBumpTargetDegrees = 45;
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public static final double autoRotationForTrenchTargetDegrees = 0;
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public static final boolean teleopOffsetEnabled = true;
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public static final double teleopOffsetkP = 15;
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public static final double autoPositioningkP = 1.0;
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public static final double autoPositioningAngleError = 1.0;
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public static final double[] bumpY = {2.51, 5.556};
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public static final double[] trenchY = {0.639, 7.43};
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public static final double TrenchtargetAngle = 0;
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public static final double TurningkP = 1.5;
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}
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public static class StartingPoints {
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public static class Red {
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public static final Pose2d Point1 = new Pose2d(12.93, 7.47, Rotation2d.fromDegrees(0));
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public static final Pose2d Point2 = new Pose2d(14.314, 4.15, Rotation2d.fromDegrees(-180));
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}
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}
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public enum DriveMode {
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ROBOT_CENTRIC,
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FIELD_CENTRIC,
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SYSID,
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OTHER
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}
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public static class Pigeon {
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public static final int CANID = 0;
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}
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public static class Limelight {
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public static final String LIMELIGHT_NAME_Shooter = "limelight-shooter";
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public static final String LIMELIGHT_NAME_Intaker = "limelight-intaker";
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public static final Boolean UsingMetaTag2 = true;
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public static final int locatePipelineIndex = 0;
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}
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public static class Field {
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public static final double RedHubPositionX = 11.914;
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public static final double RedHubPositionY = 4.034;
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public static final double BlueHubPositionX = 4.625;
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public static final double BlueHubPositionY = 4.034;
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public static final double PassingBallPosY1 = 1.405;
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public static final double PassingBallPosY2 = 6.664;
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public static final double RedPassingBallPosX = 13.355;
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public static final double BluePassingBallPosX = 3.184;
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}
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public static class Intaker {
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// 进球机构 CAN ID 同样是占位值，真实 ID 确认后集中在这里修改。
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public static final int leftIntakeRollerID = 47;
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public static final int rightIntakeRollerID = 46;
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public static final int leftIntakeRotaterID = 48;
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public static final int rightIntakeRotaterID = 49;
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public static final double intakeRollerVoltage = 6.0;
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public static final double outtakeRollerVoltage = -5.0;
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public static final double holdRollerVoltage = 1.0;
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public static final double intakeRotaterStowPosition = 0.0;
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public static final double intakeRotaterGroundPosition = -7.6;
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public static final double intakeRotaterHandoffPosition = -2.5;
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public static final double intakeRotaterSafePosition = 0.0;
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public static final double intakeRotaterManualVoltage = 2.0;
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public static final double intakeRotaterUpLimit = 0.0;
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public static final double intakeRotaterDownLimit = -7.6;
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public static final double intakeRotaterVelocity = 5;
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public static final double IntakeRotaterGravityFF = 0.0;
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public static final Slot0Configs intakeGetterSlot0Configs = new Slot0Configs()
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.withKP(0.00).withKI(0.00).withKD(0.00)
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.withKV(0.00).withKA(0.00).withKS(0.00);
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public static final Slot0Configs intakeRotaterSlot0Configs = new Slot0Configs()
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.withKP(0.00).withKI(0.00).withKD(0.00)
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.withKV(0.00).withKA(0.00).withKS(0.00);
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public static final double IntakeGetterSpeedforAuto = 0.5;
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// atGoal 判定容差。为 0 会导致 atGoal 永远为 false、射击门控永远不通过；
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// 这里给出可用的占位值，真车调好位置闭环后再收紧。
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public static final double positionToleranceRotations = 0.3;
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}
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public static class Conveyor {
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public static final int mainConveyorID = 50;
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public static final double feedVoltage = 6.0;
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public static final double reverseVoltage = -5.0;
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public static final double holdVoltage = 0.8;
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}
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public static class Superstructure {
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// 状态机时间和门控容差。真车基础动作验证后，需要现场调这些值。
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public static final double shooterFeedPercent = 1.0;
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public static final double shooterReversePercent = -0.6;
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public static final double cleanupSeconds = 0.3;
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public static final double shootTimeoutSeconds = 1.0;
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public static final double aimToleranceDegrees = 1.5;
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public static final double stationarySpeedToleranceMetersPerSecond = 0.5;
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// 松开 intake 键后，INDEXING 状态继续收纳球的时长。
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public static final double indexingSeconds = 0.5;
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// 射击时背板的目标位置（外接编码器计数）。
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public static final double backboardShootPosition = 175.0;
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// 没有球检测传感器，持球状态由状态机跟踪推断。
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// 若跟踪不可靠导致射击被卡，可临时置 false 旁路 hasNote 门控。
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public static final boolean hasNoteGateEnabled = true;
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// 射击门控是否要求底盘接近静止。
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public static final boolean stationaryGateEnabled = true;
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}
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}
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