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shift coutdown for dashboard #40

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shift coutdown for dashboard #40

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42 changes: 34 additions & 8 deletions src/main/java/frc/robot/Superstructure.java
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Original file line number Diff line number Diff line change
Expand Up @@ -47,9 +47,14 @@ public Trigger getTrigger() {
@AutoLogOutput(key = "Superstructure/State")
private static SuperState state = SuperState.IDLE;

@AutoLogOutput(key = "Superstructure/Shift Timer")
private double timeLeftInShift = getTimeLeftInShift(getCurrentShift());

@AutoLogOutput(key = "Superstructure/Current Shift")
private int currentShift = getCurrentShift();

@AutoLogOutput(key = "Scoring/Scoring Active")
public boolean isScoringActive =
isOurShift(); // assuming we want the dashboard to show if the time allows us to score not if
public boolean isScoringActive = isOurShift();

// its litterly possible

Expand Down Expand Up @@ -85,6 +90,8 @@ public Trigger getTrigger() {

private boolean shouldFeed = false;

private double timeLeftinMatch = Timer.getMatchTime();

// @AutoLogOutput(key = "Superstructure/At Extension?")
// public Trigger atExtensionTrigger = new Trigger(this::atExtension).or(Robot::isSimulation);

Expand Down Expand Up @@ -365,19 +372,38 @@ private Alliance getStartingAlliance() {
}

private int getCurrentShift() {
double timeLeftinMatch = Timer.getMatchTime();
// may be a nicer way to do this
if (105.00 <= timeLeftinMatch && timeLeftinMatch <= 130.00) {
if (210.00 < timeLeftinMatch && timeLeftinMatch <= 220.00) {
return 0; // transition shift
// My numbers were wrong for some reason not sure
} else if (145.00 < timeLeftinMatch && timeLeftinMatch <= 210.00) {
return 1;
} else if (80.00 <= timeLeftinMatch && timeLeftinMatch <= 105.00) {
} else if (120.00 < timeLeftinMatch && timeLeftinMatch <= 145.00) {
return 2;
} else if ((55.00 <= timeLeftinMatch && timeLeftinMatch <= 80.00)) {
} else if ((55.00 < timeLeftinMatch && timeLeftinMatch <= 120.00)) {
return 3;
} else if ((30.00 <= timeLeftinMatch && timeLeftinMatch <= 55.00)) {
} else if ((30.00 < timeLeftinMatch && timeLeftinMatch <= 55.00)) {
return 4;
} else {
return 0;
return 5; // endgame or whatever
}
}

private double getTimeLeftInShift(int currentShift) {
if (currentShift == 0) {
timeLeftInShift = timeLeftinMatch - 210.00;
} else if (currentShift == 1) {
timeLeftInShift = timeLeftinMatch - 145.00;
} else if (currentShift == 2) {
timeLeftInShift = timeLeftinMatch - 120.00;
} else if (currentShift == 3) {
timeLeftInShift = timeLeftinMatch - 55.00;
} else if (currentShift == 4) {
timeLeftInShift = timeLeftinMatch - 30.00;
} else {
timeLeftInShift = timeLeftinMatch;
}
return timeLeftInShift;
}

public boolean isOurShift() {
Expand Down