Team4388/2026KPopRobotHunters
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timers for hubshift depending on if u win or lose auto
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This commit is contained in:
Shikhar
2026-03-17 00:31:53 -06:00
parent 5b85bb4ace
commit ed7d0907b1
4 changed files with 172 additions and 6 deletions
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src/main/java/frc4388/robot/Robot.java
+9
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@@ -20,6 +20,8 @@ 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;
@@ -74,6 +76,11 @@ public class Robot extends LoggedRobot {
// and running subsystem periodic() methods. This must be called from the robot's periodic
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();
//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());
}
/**
* This function is called once each time the robot enters Disabled mode.
@@ -113,6 +120,7 @@ public class Robot extends LoggedRobot {
m_autonomousCommand.schedule();
}
m_robotTime.startMatchTime();
HubShiftTimer.initializeAuto();
}
/**
@@ -138,6 +146,7 @@ public class Robot extends LoggedRobot {
}
m_robotTime.startMatchTime();
HubShiftTimer.initializeTeleop();
}
/**
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 = 147;
public static final String GIT_SHA = "b073fad27703951ba251eaffc56d86f791e531e6";
public static final String GIT_DATE = "2026-03-07 20:08:15 MST";
public static final String GIT_BRANCH = "PikesPeak";
public static final String BUILD_DATE = "2026-03-08 14:27:19 MDT";
public static final long BUILD_UNIX_TIME = 1773001639109L;
public static final int GIT_REVISION = 148;
public static final String GIT_SHA = "5b85bb4ace55dd116c3e80c496ad3ebf986ebfc8";
public static final String GIT_DATE = "2026-03-09 10:27:13 MDT";
public static final String GIT_BRANCH = "Timer";
public static final String BUILD_DATE = "2026-03-17 00:27:11 MDT";
public static final long BUILD_UNIX_TIME = 1773728831770L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+3
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@@ -19,6 +19,8 @@ import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.intake.Intake;
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;
@@ -104,6 +106,7 @@ public class Shooter extends SubsystemBase {
// FaultReporter.register(this); // TODO Implement fault reporter
Logger.processInputs("Shooter", state);
io.updateInputs(state);