From 529691a7a6e87520f57ae76a2eb1eb517cb5da80 Mon Sep 17 00:00:00 2001
From: Shikhar <shikharemail8@gmail.com>
Date: Thu, 19 Mar 2026 16:33:14 -0600
Subject: [PATCH] rumble

---
 src/main/java/frc4388/robot/Robot.java               |  8 +++++++-
 .../java/frc4388/robot/constants/BuildConstants.java | 12 ++++++------
 .../robot/subsystems/shooter/ShooterConstants.java   |  2 +-
 3 files changed, 14 insertions(+), 8 deletions(-)

diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index c6bf398..cc9296f 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -15,6 +15,7 @@ import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGReader;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
+import edu.wpi.first.wpilibj.GenericHID.RumbleType;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc4388.robot.constants.BuildConstants;
@@ -149,7 +150,12 @@ public class Robot extends LoggedRobot {
    */
   @Override
   public void teleopPeriodic() {
-  //  m_robotContainer.m_robotMap.rightFront.go(m_robotContainer.getDeadbandedDriverController().getLeft());
+    var info = HubShiftTimer.getShiftInfo();
+
+    double rumble = (info.remainingInShift() < 5.) ? 1 : 0;
+
+    m_robotContainer.getDeadbandedDriverController().setRumble(RumbleType.kBothRumble, rumble);
+    m_robotContainer.getDeadbandedOperatorController().setRumble(RumbleType.kBothRumble, rumble);
   }
 
   /**
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index ae43c17..2ac3242 100644
--- a/src/main/java/frc4388/robot/constants/BuildConstants.java
+++ b/src/main/java/frc4388/robot/constants/BuildConstants.java
@@ -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 = 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 GIT_REVISION = 171;
+  public static final String GIT_SHA = "08f1e26f3a6a9eefad99783748191b0d98056b07";
+  public static final String GIT_DATE = "2026-03-19 16:06:31 MDT";
+  public static final String GIT_BRANCH = "gurt";
+  public static final String BUILD_DATE = "2026-03-19 16:29:01 MDT";
+  public static final long BUILD_UNIX_TIME = 1773959341836L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
index 4ef195a..4e90ce6 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
@@ -35,7 +35,7 @@ public class    ShooterConstants {
     public static final ConfigurableDouble MODEL_TRIM = new ConfigurableDouble("TRIM SHOOTER SPEED", 0);
 
     
-    public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", 0);
+    public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", -1.);
 
     // Shoot mode tolerances
     public static final ConfigurableDouble ROBOT_MIN_HUB = new ConfigurableDouble("Shoot min dist M", 1.8);