Don't use DriverStation Timer.

Try to fix five ball auto LEDs.
Stop trigger @ teleopInit.

Author: jasondickert

src/main/java/frc/robot/Robot.java

@@ -145,6 +145,7 @@ public void autonomousPeriodic() {
   @Override
   public void teleopInit() {
 
+    Status.getInstance().setTeleopStartTime();
     new SetColor(Status.getInstance(), Color.kBlack).schedule();
 
     // new SetColor(Status.getInstance(), Color.kDarkOrchid).schedule();

src/main/java/frc/robot/RobotContainer.java

@@ -160,7 +160,11 @@ public void setLEDs() {
     new SetColor(mStatus, Color.kCornsilk).schedule();
   }
 
+  /**
+   * Called by Robot at teleopInit()
+   */
   public void stopShooter() {
+    mShooter.stopTrigger();
     new StopShooter(mShooter).schedule();
   }
 
@@ -319,6 +323,9 @@ public void configureButtonBindings() {
       new JoystickButton(operator, X_BOX_LOGO_RIGHT).whenPressed(new DeployClimber(mClimber));
       new JoystickButton(operator, X_BOX_LOGO_LEFT).whenPressed(new RetractClimber(mClimber));
 
+      new JoystickButton(operator,9).and(new JoystickButton(operator,10))
+      .whenActive(new ResetHood(mShooter));
+
         // .and(new JoystickButton(operator, X_BOX_LOGO_LEFT))
         // .whenActive(new ToggleClimber(mClimber));
     }

src/main/java/frc/robot/auto/groups/FiveBallAuto.java

@@ -37,21 +37,21 @@
 public class FiveBallAuto extends SequentialCommandGroup {
   public FiveBallAuto(Drivetrain drive, Intake intake, Shooter shooter) {
     addCommands(
-      new ActionCommand(new ImageAction("burst.bmp", 0.02).brightness(0.7)),
       new ResetOdometry(drive, new Pose2d(new Translation2d(0, 0), Rotation2d.fromDegrees(-90.0))),
       new ParallelDeadlineGroup(
         new SequentialCommandGroup(
             new WaitCommand(1.0), // Give shooter time to spin up & hood to move
             new PullTrigger(shooter),
             new WaitCommand(0.5)),
+        new ActionCommand(new ImageAction("THFade.png", 0.02).brightness(0.7)),
         new TrajectoryFollower(drive, new FiveBallPartOne()), // Turn to point at center
         new FlywheelController(shooter, 1810, 77.90)),
     new ParallelDeadlineGroup(
       new StopShooter(shooter),
       new StopTrigger(shooter),
       new FastIntake(intake)),
     new ParallelDeadlineGroup(
-      new WaitCommand(4.60),
+      new WaitCommand(5.10),
       new SequentialCommandGroup(
         new WaitCommand(1.1), 
         new FlywheelController(shooter, 1990, 73.25)),

src/main/java/frc/robot/status/Status.java

@@ -69,6 +69,8 @@ public class Status extends SubsystemBase {
     private boolean inAuto = false;
     private boolean inTeleOp = false;
 
+    private double teleopStartTime;
+
     private Status() {
 //        super();
 
@@ -251,6 +253,15 @@ public static Status getInstance() {
         return INSTANCE;
     }
 
+    public void setTeleopStartTime() {
+        this.teleopStartTime = Timer.getFPGATimestamp();
+    }
+
+    /** In seconds */
+    public double getTeleopStartTime() {
+        return this.teleopStartTime;
+    }
+
     public void resetBoot() {
         inAuto = false;
         inTeleOp = false;

src/main/java/frc/robot/status/commands/IdleCommand.java

@@ -57,19 +57,11 @@ public void execute() {
 
             Do some gymnastics to try to generate an elapsed time from getMatchTime().
         **/
-        double rawTime = Timer.getMatchTime();
-        MatchType mt = DriverStation.getMatchType();
         double timeElapsed = 0;
-        if (DriverStation.isFMSAttached() || (mt == MatchType.Practice)) {
-            // Time will be counting down.
-            timeElapsed = TELEOP_LENGTH - rawTime;
-        } else {
-            // Time will be counting up.
-            timeElapsed = rawTime;
-        }
+        timeElapsed = Timer.getFPGATimestamp() - status.getTeleopStartTime();
 
         Action action = scannerAction;
-//        new PrintCommand("Time Left = " + String.valueOf(timeLeft)).schedule();
+        // new PrintCommand("Time Left = " + String.valueOf(timeElapsed)).schedule();
         if ( 115.0 < timeElapsed && (0 == phase)) { // 20 Seconds left
             action = new ImageAction("yellow_stripes.png",0.05);
             phase = 1;