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| public ClimberSubsystem() {} | ||
| private final SparkMax climberMotor = new SparkMax(5, MotorType.kBrushless); | ||
| private final SparkClosedLoopController closedLoopController = climberMotor.getClosedLoopController(); | ||
| private static final double L1_POSITION = 0.0; |
| public static final double minOutput = -1.0; | ||
| public static final double maxOutput = 1.0; | ||
| public static final int currentLimit = 40; | ||
| public static final double L1position = 25.0; |
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這個 L 大寫是可以的，我等下幫你跳過 checkstyle
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'member def modifier' has incorrect indentation level 8, expected level should be 4.
這行是什麼意思
我有好幾條程式碼都跳這個，讓我沒辦法推上去，checkstyle都說有錯
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右下角 space 點開 然後 indent using space 改成 2
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然後再重新自動排版（Shift+Alt+F）一下，就會好了
| private static final double L1position = ClimberConstants.L1position; | ||
| private static final double L2position = ClimberConstants.L2position; | ||
| private static final double speed = ClimberConstants.speed; |
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阿你如果改完了 要再 request review 一次喔 |
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你什麼時候會去實驗室啊 |
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啊你可以先寫簡易版 command 了 |
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我應該禮拜日才會去 |
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欸等等禮拜日要消毒，那我禮拜六應該會去，只不過就只能去早上，下午有補習 |
好 那我星期六早上去找你？ |
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排版修完之後，monday 可以先 done，然後剩下的部分星期六再來處理。 |
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Type name 'climberCommand' must match pattern '^[A-Z][a-zA-Z0-9]*$'.是什麼意思? |
星期六我會跟你說程式要怎麼改，然後如果來得及改的話可以拿馬達測邏輯，就是他能不能在該停的地方停下來。 |
要大寫開頭 |
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好像沒看到 merge main 的 commit？ |
kennhung
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kennhung
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除了有註解的部分之外，RobotContainer 不應該在這個分支被改到。
另外，每個 ClimberSybsystem 裡面每個 Command 的行為好像都有點不太合理。（runEnd 的 end 動作）
| SparkMaxConfig config = new SparkMaxConfig(); | ||
| config | ||
| .idleMode(com.revrobotics.spark.config.SparkBaseConfig.IdleMode.kBrake) | ||
| .smartCurrentLimit(ClimberConstants.currentLimit); |
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為什麼需要特別調整 SparkMax 預設的 CurrentLimit？
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因為原本有要測馬達邏輯，所以就先設小一點，然後clamp的數值也是
| return Commands.print("No autonomous command configured"); | ||
| } | ||
| } | ||
| } No newline at end of file |
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啊，你這邊好像又不小心把一行刪掉了
你可以看 PR 的 Files changed 頁面確認一下跟原本的差在哪
| public void periodic() { | ||
| // This method will be called once per scheduler run | ||
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| double measurement = MathUtil.clamp(climberEncoder.get(), -1.0, 1.0); |
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為什麼會需要把 encoder 讀到的值 clamp 在 -1 ~ 1 之間啊？
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看你想要做的是什麼事情？
clamp 在 motor.set 就會把馬達輸出限定在一個範圍內
同理，用在 encoder.get 就會把 encoder 輸出限定在一個範圍內
| public void resetEncoder() { | ||
| climberMotor.getEncoder().setPosition(0); | ||
| climberPID.reset(); | ||
| climberPID.setSetpoint(0); | ||
| } |
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感覺有點怪怪的 你爬升用的是 dutycycle encoder 可是這裡 reset 的是 sparkMax 的
kennhung
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kennhung
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RobotContainer.java 還是跟 main 不同，有被改到
另外，有其中一個留言有問問題，請回覆一下，不要直接設為已解決
| } | ||
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| @Override | ||
| public void periodic() { |
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希望可以在不同的東西之間加上空行，會比較方便其他人閱讀。（可以分成取得目前位置、控制馬達、把東西放上 Dashboard）
| SparkMaxConfig config = new SparkMaxConfig(); | ||
| config | ||
| .idleMode(com.revrobotics.spark.config.SparkBaseConfig.IdleMode.kBrake) | ||
| .smartCurrentLimit(ClimberConstants.currentLimit); |
| private final PIDController climberPID = new PIDController( | ||
| ClimberConstants.kP, ClimberConstants.kI, ClimberConstants.kD); | ||
| private final DutyCycleEncoder climberEncoder = new DutyCycleEncoder(ClimberConstants.encoderChannel, 360, 0); | ||
| private final DigitalInput manualSwitch = new DigitalInput(ClimberConstants.manualSwitchChannel); |
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是按鈕，所以應該是要用 Supplier<Boolean>
| if (climberPID.atSetpoint()) { | ||
| climberMotor.set(0); | ||
| } else { | ||
| climberMotor.set(limitedOutput); | ||
| } |
| public Command climbUpCmd() { | ||
| Command cmd = this.run(() -> climbUp()).finallyDo(() -> climberMotor.set(0)); | ||
| cmd.setName("climbUpCmd"); | ||
| return cmd; | ||
| } | ||
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| public Command climbDownCmd() { | ||
| Command cmd = this.run(() -> climbDown()).finallyDo(() -> climberMotor.set(0)); | ||
| cmd.setName("climbDownCmd"); | ||
| return cmd; |
| public void climbUp() { | ||
| if (manualModeSupplier.getAsBoolean()) { | ||
| climberMotor.set(0.3); | ||
| } else { | ||
| climberPID.setSetpoint(climberEncoder.get() + 10); | ||
| } | ||
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| } | ||
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| private void toMidRung() { | ||
| public void climbDown() { | ||
| if (manualModeSupplier.getAsBoolean()) { | ||
| climberMotor.set(-0.3); | ||
| } else { | ||
| climberPID.setSetpoint(climberEncoder.get() - 10); | ||
| } |
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這些要不要拆成共四個 command 啊
直接給 power 上下的兩個
設定 setpoint 的兩個
到時候寫按鈕的時候再把判斷指撥開關有沒有開的判斷加上去
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現在這個寫法在從直接給馬達輸出切換成 pid 控制的時候會不會有問題啊 |
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