From b2d09623bd9025354b24cbc129c30a93d66bbf4e Mon Sep 17 00:00:00 2001
From: Wesley28w <wesleycwong@gmail.com>
Date: Thu, 12 Mar 2026 14:41:33 -0700
Subject: [PATCH] Simple operator stuff for smart dashboard during comp

Works for tof, offset (hood & turret), shooter modified, power modifier
---
 .../robot/commands/gpm/Superstructure.java    | 19 +++++++++++--------
 .../frc/robot/subsystems/shooter/Shooter.java |  4 ++--
 .../frc/robot/subsystems/turret/Turret.java   |  1 +
 3 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index 5c48348..4452550 100644
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -53,7 +53,7 @@ public class Superstructure extends Command {
 
     private TurretState goalState;
 
-    private final double phaseDelay = 0.03; // Extrapolation delay due to latency
+    private double phaseDelay = 0.03; // Extrapolation delay due to latency
 
     private Translation2d target = FieldConstants.HUB_BLUE.toTranslation2d();
 
@@ -205,13 +205,12 @@ public class Superstructure extends Command {
 
     @Override
     public void execute() {
-        TOFAdjustment = SmartDashboard.getNumber("TOF Adjustment", TOFAdjustment);
-        SmartDashboard.putNumber("TOF Adjustment", TOFAdjustment);
-
-        hoodOffset = SmartDashboard.getNumber("Hood Offset", hoodOffset);
-        SmartDashboard.putNumber("Hood Offset", hoodOffset);
-        turretOffset = SmartDashboard.getNumber("Turret Offset", turretOffset);
-        SmartDashboard.putNumber("Turret Offset", turretOffset);
+        TOFAdjustment = SmartDashboard.getNumber("OPERATOR: TOF Adjustment", TOFAdjustment);
+        SmartDashboard.putNumber("OPERATOR: TOF Adjustment", TOFAdjustment);
+        hoodOffset = SmartDashboard.getNumber("OPERATOR: Hood Offset", hoodOffset);
+        SmartDashboard.putNumber("OPERATOR: Hood Offset", hoodOffset);
+        turretOffset = SmartDashboard.getNumber("OPERATOR: Turret Offset", turretOffset);
+        SmartDashboard.putNumber("OPERATOR: Turret Offset", turretOffset);
         // Phase manager stuff
         phaseManager.update(drivepose, shooter, turret);
         target = phaseManager.getTarget(drivepose);
@@ -249,6 +248,10 @@ public class Superstructure extends Command {
         Logger.recordOutput("DistanceToTarget", target.getDistance(drivepose.getTranslation()));
 
         SmartDashboard.putString("Phase Manager State", phaseManager.getCurrentState().toString());
+
+        // for operator
+        phaseDelay = SmartDashboard.getNumber("OPERATOR: Phase Delay", phaseDelay);
+        SmartDashboard.putNumber("OPERATOR: Phase Delay", phaseDelay);
     }
 
     @Override
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 3009047..f00e256 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -62,8 +62,8 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         // shooterTargetSpeed = SmartDashboard.getNumber("Shooter Setpoint", shooterTargetSpeed);
         // SmartDashboard.putNumber("Shooter Setpoint", shooterTargetSpeed);
 
-        powerModifier = SmartDashboard.getNumber("shooter power modifier", powerModifier);
-        SmartDashboard.putNumber("shooter power modifier", powerModifier);
+        powerModifier = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", powerModifier);
+        SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", powerModifier);
         
         // Convert to RPS
         double targetVelocityRPS = Units.radiansToRotations(shooterTargetSpeed / (ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2)) * powerModifier;
diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 2c0e346..84dc681 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -55,6 +55,7 @@ public class Turret extends SubsystemBase implements TurretIO{
 	private double lastFilteredRad = 0.0;
 	private double lastRawSetpoint = 0.0;
 
+
 	/* ---------------- Visualization ---------------- */
 
 	private final Mechanism2d mech = new Mechanism2d(100, 100);
-- 
2.39.5