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Hannahjjj97
requested changes
Mar 3, 2026
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| public void shoot() { | ||
| double targetVelocity = ShooterConstants.targetVelocity; | ||
| double targetVelocity = SmartDashboard.getNumber("Shooter Target Velocity", ShooterConstants.targetVelocity); |
| SmartDashboard.putNumber("shooterVelocity", getShooterVelocity()); | ||
| SmartDashboard.putNumber("shooterMotorVoltage", shooterMotor.get() * shooterMotor.getBusVoltage()); | ||
| SmartDashboard.putData("ShooterSubsystem", this); | ||
| SmartDashboard.getNumber("Shooter Target Velocity", ShooterConstants.targetVelocity); |
Hannahjjj97
requested changes
Mar 4, 2026
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| public Command climbUpCmd() { | ||
| Command cmd = runEnd(this::climbUp, this::stopClimb); | ||
| cmd.setName("Climb Up"); |
Contributor
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命名要跟其他 subsystem 一樣用小駝峰式命名
Hannahjjj97
requested changes
Mar 4, 2026
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| public Command climbUpCmd() { | ||
| Command cmd = runEnd(this::climbUp, this::stopClimb); | ||
| cmd.setName("Climb Up"); |
Hannahjjj97
requested changes
Mar 4, 2026
| return encoder.getDistance(); // Adjust distance per pulse if necessary | ||
| } | ||
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| private double manualClimbControl(double setpoint) { |
Contributor
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為什麼這個叫作 manual 可是是用 PID 控制阿
Hannahjjj97
reviewed
Mar 4, 2026
Comment on lines
+23
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| climbMotor = new SparkMax(ClimberConstants.climbMotorId, MotorType.kBrushless); | ||
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| encoder = new Encoder(ClimberConstants.climbEncoderIdA, ClimberConstants.climbEncoderIdB); | ||
| pidController = new PIDController(ClimberConstants.climberKp, ClimberConstants.climberKi, | ||
| ClimberConstants.climberKd); // Adjust PID constants as needed |
Contributor
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要不要看一下其他 subsystem，new 一個物件的程式他們都沒有寫在建構式裡面，是直接寫在類別裡面。要不要跟他們一樣
Contributor
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然後 pidController 要不要換個名字，有點看不出來他是幹嘛的
Hannahjjj97
reviewed
Mar 4, 2026
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| @Override | ||
| public void periodic() { | ||
| // This method will be called once per scheduler run |
BrianHu0925
requested changes
Mar 6, 2026
BrianHu0925
requested changes
Mar 6, 2026
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老哥還有個 checkstyle 問題喔 |
Contributor
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有衝突喔 |
Contributor
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余悅有整理過 dashboard，climber dashboard 資料要改成同個格式喔 |
Contributor
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然後可能先用這個分支測完之後 沒問題再 merge 喔，motor id 記得確認一下 |
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