Merge remote-tracking branch 'origin/gurt' into MiraOrg

src/main/java/frc4388/robot/Robot.java

@@ -15,11 +15,14 @@ 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;
 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 +116,7 @@ public class Robot extends LoggedRobot {
       m_autonomousCommand.schedule();
     }
     m_robotTime.startMatchTime();
+    HubShiftTimer.initializeAuto();
   }
 
   /**
@@ -138,6 +142,7 @@ public class Robot extends LoggedRobot {
 
     }
     m_robotTime.startMatchTime();
+    HubShiftTimer.initializeTeleop();
   }
 
   /**
@@ -145,7 +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);
   }
 
   /**

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 = 173;
-  public static final String GIT_SHA = "95c8a167a56fa0c68e486c7a097dc4d31a3e290b";
-  public static final String GIT_DATE = "2026-03-20 20:01:06 MDT";
-  public static final String GIT_BRANCH = "MiraOrg";
-  public static final String BUILD_DATE = "2026-03-20 20:29:10 MDT";
-  public static final long BUILD_UNIX_TIME = 1774060150289L;
+  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(){}

src/main/java/frc4388/robot/subsystems/shooter/Shooter.java

@@ -21,6 +21,8 @@ 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;
 import frc4388.utility.compute.TimesNegativeOne;
 
 public class Shooter extends SubsystemBase {
@@ -114,9 +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);
 
 

src/main/java/frc4388/utility/compute/HubShiftTimer.java

@@ -0,0 +1,154 @@
+
+package frc4388.utility.compute;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.Timer;
+public class HubShiftTimer {
+
+  public enum ShiftPhase {
+    DISABLED,
+    AUTO,
+    TRANSITION, // 0 – 10 s
+    SHIFT1,     // 10 – 35 s
+    SHIFT2,     // 35 – 60 s
+    SHIFT3,     // 60 – 85 s
+    SHIFT4,     // 85 – 110 s
+    ENDGAME     // 110 – 140 s
+  }
+
+  public record ShiftInfo(
+      ShiftPhase phase,
+      double elapsedInShift,
+      double remainingInShift,
+      boolean isActive) {}
+//total teleop time
+  public static final double TELEOP_DURATION = 140.0;
+//total auto time
+  public static final double AUTO_DURATION = 20.0;
+
+//shift start and end times for calculations
+  private static final double[] SHIFT_STARTS = {0.0,  10.0, 35.0, 60.0,  85.0, 110.0};
+  private static final double[] SHIFT_ENDS   = {10.0, 35.0, 60.0, 85.0, 110.0, 140.0};
+
+//hub active schedule, true is active and false is inactive
+//starts always as active becasue transition is first and is active, but then is inactive for winner or active for loser
+  private static final boolean[] WINNER_SCHEDULE = {true,  false, true,  false, true,  true};
+  private static final boolean[] LOSER_SCHEDULE  = {true,  true,  false, true,  false, true};
+
+//shift phase names during teleop
+  private static final ShiftPhase[] SHIFT_PHASES = {
+    ShiftPhase.TRANSITION,
+    ShiftPhase.SHIFT1,
+    ShiftPhase.SHIFT2,
+    ShiftPhase.SHIFT3,
+    ShiftPhase.SHIFT4,
+    ShiftPhase.ENDGAME
+  };
+
+//timer to track time
+  private static final Timer teleopTimer = new Timer();
+  private static double timerOffset = 0.0;
+
+//fms syncing idk other team did it too
+  private static final double RESYNC_THRESHOLD = 3.0;
+
+
+//call at start of auto to start timer 
+  public static void initializeAuto() {
+    teleopTimer.restart();
+  }
+  
+//call at start of teleop to start timer again because sometimes delay between auto and telop
+  public static void initializeTeleop() {
+    timerOffset = 0.0;
+    teleopTimer.restart();
+  }
+
+
+
+//returns the updated shift info based on the winner of auto
+  public static ShiftInfo getShiftInfo() {
+    if (!DriverStation.isEnabled()) {
+      return new ShiftInfo(ShiftPhase.DISABLED, 0.0, 0.0, false);
+    }
+    if (DriverStation.isAutonomousEnabled()) {
+      double autoElapsed = teleopTimer.get(); // timer restarts in initialize()
+      return new ShiftInfo(
+          ShiftPhase.AUTO,
+          autoElapsed,
+          Math.max(0.0, AUTO_DURATION - teleopTimer.get()),
+          true);
+    }
+    return computeTeleopShift();
+  }
+
+//find auto winner, R = red wins, B = blue wins
+  public static Alliance autoWinnerAlliance() {
+    String msg = DriverStation.getGameSpecificMessage();
+    if (msg != null && msg.length() > 0) {
+      char c = msg.charAt(0);
+      if (c == 'R') return Alliance.Red;
+      if (c == 'B') return Alliance.Blue;
+    }
+    // backup if no msg, returns auto winner as opposite of our alliance. if we red -> blue wins auto
+    Alliance ours = DriverStation.getAlliance().orElse(Alliance.Blue);
+    return (ours == Alliance.Blue) ? Alliance.Red : Alliance.Blue;
+  }
+
+
+  //return our schedule for the shifts
+  private static boolean[] getSchedule() {
+    Alliance ours   = DriverStation.getAlliance().orElse(Alliance.Blue);
+    Alliance winner = autoWinnerAlliance();
+    return (ours == winner) ? WINNER_SCHEDULE : LOSER_SCHEDULE;
+  }
+
+//time since start of teleop
+  private static double getTeleopElapsed() {
+    double localTime = teleopTimer.get() - timerOffset;
+
+    // Re-sync to FMS time if we drift too far (only when FMS is attached)
+    if (DriverStation.isFMSAttached()) {
+      double fmsElapsed = TELEOP_DURATION - DriverStation.getMatchTime();
+      if (fmsElapsed <= TELEOP_DURATION - 5.0 // ignore the first few seconds of jitter
+          && Math.abs(localTime - fmsElapsed) >= RESYNC_THRESHOLD) {
+        timerOffset += localTime - fmsElapsed;
+        localTime = fmsElapsed;
+      }
+    }
+    return Math.max(0.0, Math.min(TELEOP_DURATION, localTime));
+  }
+
+  private static ShiftInfo computeTeleopShift() {
+    boolean[] schedule = getSchedule();
+    double elapsed = getTeleopElapsed();
+
+    // Find which shift we're in
+    int phaseIndex = SHIFT_STARTS.length - 1; // default to last shift if past all bounds
+    for (int i = 0; i < SHIFT_STARTS.length; i++) {
+      if (elapsed >= SHIFT_STARTS[i] && elapsed < SHIFT_ENDS[i]) {
+        phaseIndex = i;
+        break;
+      }
+    }
+
+    double shiftElapsed   = elapsed - SHIFT_STARTS[phaseIndex];
+    double shiftRemaining = SHIFT_ENDS[phaseIndex] - elapsed;
+
+    // merge time for elapsed if same active/inactive
+    if (phaseIndex > 0 && schedule[phaseIndex] == schedule[phaseIndex - 1]) {
+      shiftElapsed = elapsed - SHIFT_STARTS[phaseIndex - 1];
+    }
+
+    // merge time for remaining time if same active/inactive status 
+    if (phaseIndex < SHIFT_ENDS.length - 1 && schedule[phaseIndex] == schedule[phaseIndex + 1]) {
+      shiftRemaining = SHIFT_ENDS[phaseIndex + 1] - elapsed;
+    }
+
+    return new ShiftInfo(
+        SHIFT_PHASES[phaseIndex],
+        shiftElapsed,
+        shiftRemaining,
+        schedule[phaseIndex]);
+  }
+}