Team4388/2026KPopRobotHunters
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Merge branch 'Timer' into gurt

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This commit is contained in:
Shikhar
2026-03-19 16:06:31 -06:00
parent 73c3849569 03d95a273d
commit 08f1e26f3a
5 changed files with 172 additions and 12 deletions
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src/main/java/frc4388/robot/Robot.java
+4
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@@ -20,6 +20,8 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc4388.robot.constants.BuildConstants;
import frc4388.robot.constants.Constants.SimConstants;
import frc4388.utility.DeferredBlock;
import frc4388.utility.compute.HubShiftTimer;
import frc4388.utility.compute.HubShiftTimer.ShiftInfo;
import frc4388.utility.compute.RobotTime;
import frc4388.utility.compute.Trim;
import frc4388.utility.status.FaultReporter;
@@ -113,6 +115,7 @@ public class Robot extends LoggedRobot {
m_autonomousCommand.schedule();
}
m_robotTime.startMatchTime();
HubShiftTimer.initializeAuto();
}
/**
@@ -138,6 +141,7 @@ public class Robot extends LoggedRobot {
}
m_robotTime.startMatchTime();
HubShiftTimer.initializeTeleop();
}
/**
src/main/java/frc4388/robot/constants/BuildConstants.java
+6 -6
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@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 167;
public static final String GIT_SHA = "85fe11c8bdd51d8671e98047f88a2d42276f7094";
public static final String GIT_DATE = "2026-03-18 13:39:27 MDT";
public static final String GIT_BRANCH = "MiraOrg";
public static final String BUILD_DATE = "2026-03-18 16:02:33 MDT";
public static final long BUILD_UNIX_TIME = 1773871353359L;
public static final int GIT_REVISION = 149;
public static final String GIT_SHA = "ed7d0907b189f1b732408164152aca99f1ca5b81";
public static final String GIT_DATE = "2026-03-17 00:31:53 MDT";
public static final String GIT_BRANCH = "Timer";
public static final String BUILD_DATE = "2026-03-17 12:46:28 MDT";
public static final long BUILD_UNIX_TIME = 1773773188939L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+8 -1
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@@ -19,6 +19,8 @@ import frc4388.robot.subsystems.intake.Intake;
import frc4388.robot.subsystems.led.LED;
import frc4388.robot.subsystems.swerve.SwerveDrive;
import frc4388.utility.compute.FieldPositions;
import frc4388.utility.compute.HubShiftTimer;
import frc4388.utility.compute.HubShiftTimer.ShiftInfo;
public class Shooter extends SubsystemBase {
public ShooterIO io;
@@ -114,8 +116,13 @@ public class Shooter extends SubsystemBase {
@Override
public void periodic() {
// FaultReporter.register(this); // TODO Implement fault reporter
//Hub Shift logs
ShiftInfo info = HubShiftTimer.getShiftInfo();
Logger.recordOutput("HubShift/IsActive", info.isActive());
Logger.recordOutput("HubShift/RemainingInShift", info.remainingInShift());
Logger.recordOutput("HubShift/Phase", info.phase().name());
Logger.processInputs("Shooter", state);
io.updateInputs(state);