add cycle counter var to start getting loggable timings for cycle breakdown

Author: LucienMorey

components/injector.py

@@ -19,6 +19,9 @@ class InjectorComponent:
     INJECTOR_RPS_TOLERANCE = 0.5
     INJECTOR_MAX_ACCEL = 0.5
 
+    cycle_counter = tunable(0)
+    cycle_segment = tunable("intaking")
+
     def __init__(self) -> None:
         self.algae_limit_switch = DigitalInput(DioChannel.ALGAE_INTAKE_SWITCH)
 
@@ -55,6 +58,14 @@ def __init__(self) -> None:
 
     def on_enable(self) -> None:
         self.has_seen_algae = False
+        self.cycle_counter = 0
+
+    def increment_segment(self) -> None:
+        if self.cycle_segment == "intaking":
+            self.cycle_segment = "shooting"
+        else:
+            self.cycle_segment = "intaking"
+            self.cycle_counter += 1
 
     @feedback
     def _algae_limit_switch_pressed(self) -> bool:

controllers/algae_shooter.py

@@ -67,7 +67,10 @@ def preparing(self):
             self.next_state(self.shooting)
 
     @timed_state(duration=0.2, must_finish=True)
-    def shooting(self) -> None:
+    def shooting(self, initial_call: bool) -> None:
+        if initial_call:
+            self.injector_component.increment_segment()
+
         if self.use_ballistics:
             solution = self.ballistics_component.current_solution()
             self.shooter_component.spin_flywheels(

controllers/floor_intake.py

@@ -28,6 +28,7 @@ def intake(self) -> None:
     @state(first=True, must_finish=True)
     def intaking(self):
         if self.injector_component.has_algae():
+            self.injector_component.increment_segment()
             self.done()
             return
 

controllers/reef_intake.py

@@ -113,6 +113,7 @@ def safing(self, initial_call: bool):
             self.chassis.limit_to_positive_longitudinal_velocity()
 
         if distance >= self.RETREAT_DISTANCE:
+            self.injector_component.increment_segment()
             self.done()
 
     def done(self) -> None: