rumble modifications as per kenta's request

src/main/java/com/team2813/Constants.java

@@ -8,6 +8,8 @@
 package com.team2813;
 
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 /**
  * This class defines the runtime mode used by AdvantageKit. The mode is always "real" when running
@@ -46,6 +48,9 @@ public final class Constants {
 
   public static final int HOOD_MOTOR_ID = 23;
 
+  public static final CommandXboxController driveController = new CommandXboxController(0);
+  public static final CommandXboxController operatorController = new CommandXboxController(1);
+
   /**
    * Returns true if the robot is on the red alliance.
    *
@@ -57,4 +62,14 @@ public static boolean onRed() {
     return DriverStation.getAlliance().orElse(DriverStation.Alliance.Blue)
         == DriverStation.Alliance.Red;
   }
+
+  public static void rumble() {
+    driveController.setRumble(GenericHID.RumbleType.kBothRumble, 1);
+    operatorController.setRumble(GenericHID.RumbleType.kBothRumble, 1);
+  }
+
+  public static void stopRumble() {
+    driveController.setRumble(GenericHID.RumbleType.kBothRumble, 0);
+    operatorController.setRumble(GenericHID.RumbleType.kBothRumble, 0);
+  }
 }

src/main/java/com/team2813/Robot.java

@@ -131,7 +131,7 @@ public void robotPeriodic() {
   /** This function is called once when the robot is disabled. */
   @Override
   public void disabledInit() {
-    robotContainer.stopRumble();
+    Constants.stopRumble();
   }
 
   /** This function is called periodically when disabled. */
@@ -174,19 +174,20 @@ public void autonomousExit() {
   @Override
   public void teleopInit() {}
 
-  /** This function is called periodically during operator control. */
+  /**
+   * This function is called periodically during operator control.
+   *
+   * <p>The controller rumbles for 2 seconds at the end of an inactive shift
+   *
+   * <p>and rumbles for 1 second when 5 seconds left in an active shift.
+   */
   @Override
   public void teleopPeriodic() {
-    double timeLeftInCurrentPhase = HubStatusUtil.timeLeftInCurrentPhase();
-    // rumble controllers 3 times if the phase is about to end
-    // TODO: Rework the comment, Tamir or Tom
-    if (timeLeftInCurrentPhase <= 3
-        && (timeLeftInCurrentPhase - (int) timeLeftInCurrentPhase) > 0.7
-        && timeLeftInCurrentPhase > 0) {
-      robotContainer.setRumbleDriver();
-      robotContainer.setRumbleOperator();
+    boolean shouldRumble = HubStatusUtil.shouldRumble();
+    if (shouldRumble) {
+      Constants.rumble();
     } else {
-      robotContainer.stopRumble();
+      Constants.stopRumble();
     }
   }
 

src/main/java/com/team2813/RobotContainer.java

@@ -7,6 +7,8 @@
 
 package com.team2813;
 
+import static com.team2813.Constants.driveController;
+import static com.team2813.Constants.operatorController;
 import static com.team2813.subsystems.vision.VisionConstants.aprilTagLayout;
 import static edu.wpi.first.units.Units.Seconds;
 
@@ -46,7 +48,6 @@
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.*;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import java.util.Optional;
 import java.util.function.BooleanSupplier;
@@ -73,9 +74,6 @@ public class RobotContainer {
   private final Shooter shooter;
   private final Kicker kicker;
   private final Hood hood;
-  // Controller
-  private final CommandXboxController driveController = new CommandXboxController(0);
-  private final CommandXboxController operatorController = new CommandXboxController(1);
 
   // Dashboard inputs
   private final LoggedDashboardChooser<Command> autoChooser;
@@ -235,6 +233,10 @@ public RobotContainer(
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
    * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
    * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+   *
+   * <p>See <a
+   * href="https://docs.google.com/document/d/1c1zoiYpnxV-vbh7Lwg_JNCNO7cJSAgor_JbsUmiQnXE/edit?tab=t.0">Controls
+   * Documentation</a> for more details on the recommended button bindings.
    */
   private void configureButtonBindings() {
     // Operator controls
@@ -361,16 +363,6 @@ public void setRumbleOperator() {
     operatorController.setRumble(GenericHID.RumbleType.kLeftRumble, 1);
   }
 
-  public void setRumbleDriver() {
-    // TODO: test rumble values with driver
-    driveController.setRumble(GenericHID.RumbleType.kLeftRumble, 1);
-  }
-
-  public void stopRumble() {
-    operatorController.setRumble(GenericHID.RumbleType.kBothRumble, 0);
-    driveController.setRumble(GenericHID.RumbleType.kBothRumble, 0);
-  }
-
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
    *

src/main/java/com/team2813/util/HubStatusUtil.java

@@ -100,4 +100,12 @@ public static double timeLeftInCurrentPhase() {
       return matchTimeInSeconds;
     } else return 0;
   }
+
+  public static boolean shouldRumble() {
+    return shouldRumble(isHubActive(), timeLeftInCurrentPhase());
+  }
+
+  static boolean shouldRumble(boolean hubActive, double tLeft) {
+    return hubActive ? tLeft <= 5 && tLeft > 4 : tLeft <= 2 && tLeft > 0;
+  }
 }

src/test/java/com/team2813/util/RobotTeleopRumbleTest.java

@@ -0,0 +1,33 @@
+package com.team2813.util;
+
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.CsvSource;
+
+class RobotTeleopRumbleTest {
+  @ParameterizedTest
+  @CsvSource({
+    // Active hub shift: rumble only when 4 < time <= 5.
+    "true,5.1,false",
+    "true,5.0,true",
+    "true,4.5,true",
+    "true,4.0,false",
+    "true,0.0,false",
+    // Inactive hub shift: rumble only when 0 < time <= 2.
+    "false,2.1,false",
+    "false,2.0,true",
+    "false,1.0,true",
+    "false,0.0,false",
+    "false,-0.1,false"
+  })
+  void shouldRumbleMatchesTeleopPeriodicLogic(
+      boolean hubActive, double timeLeft, boolean expected) {
+    if (expected) {
+      assertTrue(HubStatusUtil.shouldRumble(hubActive, timeLeft));
+    } else {
+      assertFalse(HubStatusUtil.shouldRumble(hubActive, timeLeft));
+    }
+  }
+}