计时器

elastic-layout.json

@@ -91,6 +91,93 @@
               "period": 0.06,
               "sort_options": false
             }
+          },
+          {
+            "title": "HubActive",
+            "x": 0.0,
+            "y": 0.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Boolean Box",
+            "properties": {
+              "topic": "/GameData2026/HubActive",
+              "period": 0.06,
+              "data_type": "boolean",
+              "true_color": 4283215696,
+              "false_color": 4294198070,
+              "true_icon": "None",
+              "false_icon": "None"
+            }
+          },
+          {
+            "title": "HubStatus",
+            "x": 256.0,
+            "y": 0.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/GameData2026/HubStatus",
+              "period": 0.06,
+              "data_type": "string",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "SecondsUntilHubOpens",
+            "x": 0.0,
+            "y": 128.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/GameData2026/SecondsUntilHubOpens",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "Shift",
+            "x": 256.0,
+            "y": 128.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/GameData2026/Shift",
+              "period": 0.06,
+              "data_type": "string",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "FirstInactiveAlliance",
+            "x": 0.0,
+            "y": 256.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/GameData2026/FirstInactiveAlliance",
+              "period": 0.06,
+              "data_type": "string",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "MatchTime",
+            "x": 256.0,
+            "y": 256.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/GameData2026/MatchTime",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
           }
         ]
       }
@@ -1492,4 +1579,4 @@
       }
     }
   ]
-}
+}

src/main/java/frc/robot/Robot.java

@@ -23,6 +23,7 @@ public class Robot extends TimedRobot {
     public void robotPeriodic() {
         CommandScheduler.getInstance().run(); 
         m_robotContainer.tunerPeriodic();
+        m_robotContainer.dashboardPeriodic();
 
     }
 

src/main/java/frc/robot/RobotContainer.java

@@ -30,6 +30,7 @@ import frc.robot.utils.LedBindings;
 import frc.robot.controls.ClimberControls;
 import frc.robot.controls.Autocommand;
 import frc.robot.subsystems.ClimberSubsystem;
+import frc.robot.utils.GameData2026;
 public class RobotContainer {
 
   /* ====================== */
@@ -63,6 +64,7 @@ public class RobotContainer {
   //private final ClimberControls climberControls = new ClimberControls(climberSubsystem, controllerupper);
   private final IntakerControls intakerControls = new IntakerControls(IntakerSubsystem, shooterSubsystem, controllerupper);
   private final DriveGainsTuner driveGainsTuner = new DriveGainsTuner(drivetrain);
+  private final GameData2026 gameData2026 = new GameData2026();
   private ConfigTalonFXMotorTuner configFlywheelTuner = new ConfigTalonFXMotorTuner(shooterSubsystem.flywheelMotorLeft, "flywheel", Constants.Shooter.flyWheelSlot0Configs);
   private ConfigTalonFXMotorTuner configConveyorTuner = new ConfigTalonFXMotorTuner(shooterSubsystem.conveyorMotor, "conveyor", Constants.Shooter.conveyorSlot0Configs);
   private ConfigTalonFXSMotorTuner configBackboardTuner = new ConfigTalonFXSMotorTuner(shooterSubsystem.backboardMotor, "backboard", Constants.Shooter.backboardSlot0Configs);
@@ -202,6 +204,10 @@ public class RobotContainer {
     shooterSubsystem.setRightFollowLeft();
   }
 
+  public void dashboardPeriodic() {
+    gameData2026.periodic();
+  }
+
   // private void configueClimber() {
   //   climberSubsystem.setDefaultCommand(climberControls.defaultClimberCommand());
   // }

src/main/java/frc/robot/utils/GameData2026.java

@@ -0,0 +1,117 @@
+package frc.robot.utils;
+
+import java.util.Optional;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+
+public class GameData2026 {
+    private static final double SHIFT_1_END_TIME = 105.0;
+    private static final double SHIFT_2_END_TIME = 80.0;
+    private static final double SHIFT_3_END_TIME = 55.0;
+    private static final double SHIFT_4_END_TIME = 30.0;
+    private static final double TRANSITION_END_TIME = 130.0;
+
+    private final NetworkTable table = NetworkTableInstance.getDefault().getTable("GameData2026");
+
+    public void periodic() {
+        Optional<Alliance> alliance = DriverStation.getAlliance();
+        double matchTime = DriverStation.getMatchTime();
+        String gameData = DriverStation.getGameSpecificMessage();
+
+        HubWindow window = calculateHubWindow(alliance, matchTime, gameData);
+
+        table.getEntry("HubActive").setBoolean(window.hubActive);
+        table.getEntry("HubStatus").setString(window.status);
+        table.getEntry("SecondsUntilHubOpens").setDouble(window.secondsUntilHubOpens);
+        table.getEntry("SecondsUntilHubChanges").setDouble(window.secondsUntilHubChanges);
+        table.getEntry("Shift").setString(window.shift);
+        table.getEntry("MatchTime").setDouble(matchTime);
+        table.getEntry("GameData").setString(gameData);
+        table.getEntry("Alliance").setString(alliance.map(Enum::name).orElse("Unknown"));
+        table.getEntry("FirstInactiveAlliance").setString(getFirstInactiveAlliance(gameData));
+    }
+
+    private HubWindow calculateHubWindow(Optional<Alliance> alliance, double matchTime, String gameData) {
+        if (alliance.isEmpty()) {
+            return new HubWindow(false, "NO_ALLIANCE", "Disabled", Double.NaN, Double.NaN);
+        }
+
+        if (DriverStation.isAutonomousEnabled()) {
+            return new HubWindow(true, "OPEN", "Auto", 0.0, Double.NaN);
+        }
+
+        if (!DriverStation.isTeleopEnabled()) {
+            return new HubWindow(false, "DISABLED", "Disabled", Double.NaN, Double.NaN);
+        }
+
+        if (matchTime < 0.0) {
+            return new HubWindow(true, "OPEN_TIME_UNKNOWN", "Unknown", 0.0, Double.NaN);
+        }
+
+        Boolean redInactiveFirst = getRedInactiveFirst(gameData);
+        if (redInactiveFirst == null) {
+            return new HubWindow(true, "WAITING_DATA", "WaitingData", 0.0, Double.NaN);
+        }
+
+        boolean shift1Active = switch (alliance.get()) {
+            case Red -> !redInactiveFirst;
+            case Blue -> redInactiveFirst;
+        };
+
+        if (matchTime > TRANSITION_END_TIME) {
+            return new HubWindow(true, "OPEN", "Transition", 0.0, matchTime - TRANSITION_END_TIME);
+        } else if (matchTime > SHIFT_1_END_TIME) {
+            return fromShift("Shift1", shift1Active, matchTime, SHIFT_1_END_TIME);
+        } else if (matchTime > SHIFT_2_END_TIME) {
+            return fromShift("Shift2", !shift1Active, matchTime, SHIFT_2_END_TIME);
+        } else if (matchTime > SHIFT_3_END_TIME) {
+            return fromShift("Shift3", shift1Active, matchTime, SHIFT_3_END_TIME);
+        } else if (matchTime > SHIFT_4_END_TIME) {
+            return fromShift("Shift4", !shift1Active, matchTime, SHIFT_4_END_TIME);
+        } else {
+            return new HubWindow(true, "OPEN", "Endgame", 0.0, Math.max(matchTime, 0.0));
+        }
+    }
+
+    private HubWindow fromShift(String shift, boolean hubActive, double matchTime, double nextBoundary) {
+        double secondsUntilChange = Math.max(matchTime - nextBoundary, 0.0);
+        double secondsUntilOpen = hubActive ? 0.0 : secondsUntilChange;
+        String status = hubActive ? "OPEN" : "CLOSED";
+        return new HubWindow(hubActive, status, shift, secondsUntilOpen, secondsUntilChange);
+    }
+
+    private Boolean getRedInactiveFirst(String gameData) {
+        if (gameData.isEmpty()) {
+            return null;
+        }
+
+        return switch (gameData.charAt(0)) {
+            case 'R' -> true;
+            case 'B' -> false;
+            default -> null;
+        };
+    }
+
+    private String getFirstInactiveAlliance(String gameData) {
+        if (gameData.isEmpty()) {
+            return "None";
+        }
+
+        return switch (gameData.charAt(0)) {
+            case 'R' -> "Red";
+            case 'B' -> "Blue";
+            default -> "Invalid";
+        };
+    }
+
+    private record HubWindow(
+        boolean hubActive,
+        String status,
+        String shift,
+        double secondsUntilHubOpens,
+        double secondsUntilHubChanges
+    ) {}
+}