Team4388/2026KPopRobotHunters
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Merge branch 'Timer' into gurt

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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/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);