Package frc.robot.subsystems.gameplaystate.config

Class GameplayStateSubsystemConfig

java.lang.Object
frc.robot.shared.config.AbstractConfig
frc.robot.shared.config.AbstractSubsystemConfig
frc.robot.subsystems.gameplaystate.config.GameplayStateSubsystemConfig
public class GameplayStateSubsystemConfig extends AbstractSubsystemConfig
Configuration bundle for the Gameplay State subsystem.

Controls automatic state transitions triggered by FMS match phase changes and match time thresholds. All threshold values are tunable at runtime through AdvantageKit-backed SmartDashboard entries when not attached to the FMS.

  • Field Details

    • endgameThresholdSeconds

      public double endgameThresholdSeconds
      Match time threshold in seconds below which the subsystem sets the endgame suggestion flag for dashboard alerts.

      Only evaluated during teleop. A value of 30.0 means the suggestion fires when approximately 30 seconds remain in the teleop period.

    • autoTransitionEnabled

      public boolean autoTransitionEnabled
      Enables automatic state transitions based on FMS match phase (autonomous, teleop, disabled).

      When true, the subsystem automatically transitions to AUTO_CYCLE at the start of autonomous, reverts to IDLE at the start of teleop, and forces IDLE when the robot is disabled.

    • fireReadySweepDelaySeconds

      public double fireReadySweepDelaySeconds
      Delay in seconds before the harvester arm sweeps Fuel toward the shooting array during fire ready.

      When the robot enters the FIRE_READY state, it begins shooting immediately. After this delay elapses, the harvester raises to its sweep position to push remaining Fuel forward from the back of the hopper. A value of 10.0 means the sweep starts 10 seconds into the firing sequence.

  • Constructor Details

    • GameplayStateSubsystemConfig

      public GameplayStateSubsystemConfig()

  • Method Details

    • getEndgameThresholdSeconds

      public double getEndgameThresholdSeconds()
      Returns the endgame match time threshold in seconds.
      Returns:
      seconds remaining in teleop below which the endgame suggestion flag is set

    • getAutoTransitionEnabled

      public boolean getAutoTransitionEnabled()
      Returns whether FMS-based automatic state transitions are enabled.
      Returns:
      true when the subsystem should automatically transition states based on match phase

    • getFireReadySweepDelaySeconds

      public double getFireReadySweepDelaySeconds()
      Returns the delay in seconds before the harvester sweeps Fuel forward during fire ready.

      After this many seconds of firing, the harvester arm raises to the sweep position to push remaining Fuel from the back of the hopper toward the shooting array. Tunable at runtime so operators can adjust based on hopper fill level and shot cadence.

      Returns:
      delay in seconds before the harvester sweep activates during fire ready