Team4388/2026KPopRobotHunters
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Merge remote-tracking branch 'origin/gurt' into MiraOrg

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mimigamin
2026-03-20 20:35:08 -06:00
parent 8c24514fe0 529691a7a6
commit b79f72df2f
5 changed files with 179 additions and 14 deletions
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src/main/java/frc4388/robot/Robot.java
+11 -1
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@@ -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
+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 = 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
+8 -2
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@@ -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);