Add hub reactivation return warning to driver feedback by Copilot · Pull Request #34 · FRC1466/2026RobotCode

Copilot · 2026-03-11T19:26:22Z

When the robot is outside the alliance zone during an inactive hub window, drivers need advance notice to route back before hub scoring becomes available again. This change adds a conservative return-time estimate and surfaces it as driver feedback instead of requiring manual time/position judgment.

Return-time estimation
- Added HubShiftUtil helpers to estimate time back to the alliance-zone scoring side from the robot’s current pose.
- The estimate is alliance-aware and routes through the nearest open trench-side lane, rather than assuming a straight-line path through the hub/bump.
- Applies a conservative speed fraction plus extra slack for imperfect manual driving.
Driver feedback
- Added a pulsed controller rumble when the remaining inactive hub time is less than or equal to the estimated return time.
- Only warns during teleop and only while the hub is currently inactive.
Dashboard / logging outputs
- Publishes:
  - HubShift/ReturnToAllianceZoneWarning
  - HubShift/EstimatedReturnTimeSec
  - HubShift/TimeUntilHubActiveSec
- Mirrors the same values to AdvantageKit logs for visibility during tuning and match review.
Implementation shape
- Kept hub timing/path estimation in HubShiftUtil.
- Kept controller and dashboard wiring in RobotContainer.

double estimatedReturnTime =
    HubShiftUtil.getEstimatedReturnToAllianceZoneTime(
        drive.getPose(), drive.getMaxLinearSpeedMetersPerSec());

boolean returnWarningActive =
    HubShiftUtil.shouldWarnReturnToAllianceZone(
        drive.getPose(), drive.getMaxLinearSpeedMetersPerSec());

Warning

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If you need me to access, download, or install something from one of these locations, you can either:

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Original prompt

Create a command in robot container or hub shift util that rumbles the controller when it's time to drive back into the alliance zone. The way this should work is as follows:

When the driver goes out of the alliance zone (past the starting line tape), they can't score. So, before the drivers alliance hub becomes active again it should calculate the time it takes to drive back to the center line (specifically the area near the trench or bump, since the robot can't phase through the hub) from the robots position. So, if they are across the field it'll calculate how long it takes to drive back plus a bit more for imperfect driving or paths, and buzz the controller or have a smart dashboard bool or something.

✨ Let Copilot coding agent set things up for you — coding agent works faster and does higher quality work when set up for your repo.

Co-authored-by: GrumpyBud <109627078+GrumpyBud@users.noreply.github.com>

Copilot

Pull request overview

Adds driver feedback to help ensure the robot can return to the alliance-zone scoring side before the hub becomes active again, by estimating return time from current pose and warning (dashboard + controller rumble) when time is getting short.

Changes:

Added alliance-aware estimated return-to-alliance-zone time calculation in HubShiftUtil.
Added teleop-only “return warning” boolean + related timings to SmartDashboard and AdvantageKit logs.
Added pulsed controller rumble when the inactive time remaining is less than or equal to the estimated return time.

Reviewed changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 2 comments.

File	Description
`src/main/java/frc/robot/util/HubShiftUtil.java`	Adds conservative return-time estimation and a helper to decide when to warn during inactive hub windows.
`src/main/java/frc/robot/RobotContainer.java`	Wires warning state to dashboard/log outputs and controller rumble pulsing.

Copilot · 2026-03-11T19:46:39Z

+      // Approximate the manual path as a lateral move into the nearest open lane followed by a
+      // straight drive back across the alliance-zone line.
+      double returnDistance =
+          Math.abs(allianceRelativePose.getY() - returnTarget.getY())
+              + Math.max(0.0, allianceRelativePose.getX() - returnTarget.getX());
+      shortestReturnDistance = Math.min(shortestReturnDistance, returnDistance);


The return-distance model (lateral move at current X, then straight back to the alliance-zone line) can significantly underestimate the true path when the robot is near the hub/bump X extent, because a pure lateral segment at that X may intersect hub/bump geometry. That makes the warning potentially late even though the method is intended to be conservative. Consider routing via an intermediate waypoint with X cleared past the hub/bump (or adding an X-clearance term when the pose is within the hub/bump footprint) before computing the lateral segment.

Copilot · 2026-03-11T19:46:40Z

+    var shiftInfo = HubShiftUtil.getShiftedShiftInfo();
+    var robotPose = drive.getPose();
+    double maxDriveSpeedMetersPerSec = drive.getMaxLinearSpeedMetersPerSec();
+    double estimatedReturnTime =
+        HubShiftUtil.getEstimatedReturnToAllianceZoneTime(robotPose, maxDriveSpeedMetersPerSec);
+    boolean returnWarningActive =
+        HubShiftUtil.shouldWarnReturnToAllianceZone(robotPose, maxDriveSpeedMetersPerSec);
+    double timeUntilHubActive = shiftInfo.active() ? 0.0 : shiftInfo.remainingTime();


shiftInfo is computed here, but HubShiftUtil.shouldWarnReturnToAllianceZone(...) recomputes getShiftedShiftInfo() internally. Consider changing shouldWarnReturnToAllianceZone to accept the already-computed ShiftInfo (or remaining inactive time) to avoid duplicate work and ensure both dashboard/logging and rumble decisions are based on the exact same shift snapshot.

Initial plan

dcc226a

Copilot AI assigned Copilot and GrumpyBud Mar 11, 2026

Copilot started work on behalf of GrumpyBud March 11, 2026 19:26 View session

Copilot AI and others added 2 commits March 11, 2026 19:31

Add alliance zone return warning

ed6c04c

Co-authored-by: GrumpyBud <109627078+GrumpyBud@users.noreply.github.com>

Polish return warning implementation

b0f984e

Co-authored-by: GrumpyBud <109627078+GrumpyBud@users.noreply.github.com>

Copilot AI changed the title ~~[WIP] Add controller rumble for alliance zone return~~ Add hub reactivation return warning to driver feedback Mar 11, 2026

Copilot finished work on behalf of GrumpyBud March 11, 2026 19:36

GrumpyBud requested a review from Copilot March 11, 2026 19:41

Copilot started reviewing on behalf of GrumpyBud March 11, 2026 19:42 View session

Copilot AI reviewed Mar 11, 2026

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Add hub reactivation return warning to driver feedback#34

Add hub reactivation return warning to driver feedback#34
Copilot wants to merge 3 commits intomainfrom
copilot/add-controller-rumble-on-return

Copilot AI commented Mar 11, 2026 •

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Copilot AI commented Mar 11, 2026 •

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