Package frc.robot.subsystems.gameplaystate

Class GameplayStateSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.shared.subsystems.AbstractSubsystem<GameplayStateSubsystemConfig>

frc.robot.subsystems.gameplaystate.GameplayStateSubsystem

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public class GameplayStateSubsystem
extends AbstractSubsystem<GameplayStateSubsystemConfig>

Tracks the robot's high-level operating mode and publishes the current gameplay state for command factories and telemetry.

This subsystem does not own hardware or directly schedule commands on other subsystems. It maintains the current GameplayState and exposes it so the companion GameplayStateCommandFactory can compose the appropriate parallel command groups. Automatic transitions based on FMS match phase and endgame timer are evaluated each cycle when enabled in configuration.

Field Summary

Fields inherited from class frc.robot.shared.subsystems.AbstractSubsystem

className, config, enabled, kDt, log, verbose

Constructor Summary

Constructors

Constructor	Description
GameplayStateSubsystem(GameplayStateSubsystemConfig config, Supplier<Double> distanceToTargetMetersSupplier, Supplier<String> activeTargetNameSupplier)	Creates the Gameplay State subsystem with targeting telemetry suppliers.

Method Summary

Modifier and Type	Method	Description
GameplayState	getCurrentState()	Returns the current gameplay state.
boolean	isEndgameSuggested()	Returns true when the endgame threshold has been reached.
void	periodic()	Evaluates automatic state transitions and logs telemetry each robot loop.
void	requestState(GameplayState state, String source)	Requests a transition to the specified gameplay state.

Methods inherited from class frc.robot.shared.subsystems.AbstractSubsystem

getConfig, isFMSAttached, isSimulation, isSubsystemDisabled, isVerbose, isVerboseLoggingEnabled, logDisabled, reportWarning

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

GameplayStateSubsystem

public GameplayStateSubsystem(GameplayStateSubsystemConfig config,
 Supplier<Double> distanceToTargetMetersSupplier,
 Supplier<String> activeTargetNameSupplier)

Creates the Gameplay State subsystem with targeting telemetry suppliers.

Parameters:

config - configuration values for auto-transition behavior and endgame thresholds

distanceToTargetMetersSupplier - supplier returning the distance from the robot to the active field target in meters

activeTargetNameSupplier - supplier returning the human-readable name of the active field target

Method Details

periodic

public void periodic()

Evaluates automatic state transitions and logs telemetry each robot loop.

requestState

public void requestState(GameplayState state,
 String source)

Requests a transition to the specified gameplay state.

The state change takes effect immediately. The transition source is recorded for telemetry so operators can see what triggered each change.

Parameters:

state - desired gameplay state

source - description of what triggered this transition (e.g., "operator", "fms", "auto", "timer")

getCurrentState

public GameplayState getCurrentState()

Returns the current gameplay state.

Returns:

active gameplay state

isEndgameSuggested

public boolean isEndgameSuggested()

Returns true when the endgame threshold has been reached.

Use this as a dashboard indicator or driver alert.

Returns:

true when match time is below the configured endgame threshold during teleop