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/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);