Marslib Operator

MARSFaultManager.hasActiveCriticalFaults() → Critical fault flash (highest priority)
MARSPowerManager.getVoltage() < WARNING    → Load shedding amber pulse
default                                    → Alliance-colored idle pattern

2. Key Rules

Rule A: Every Command Declares Requirements

When binding a controller button, the Command MUST requires() every subsystem it touches. If a composite sequence spans multiple subsystems, use Commands.sequence() with all requirements declared. Without this, a stray button press can interrupt an active scoring sequence.

Rule B: Haptic Feedback for Invisible Events

Drivers can't watch the screen during matches. Fire controller rumble for:

• Game piece collected (intake sensor triggered)
• GhostManager macro recording complete
• Alignment locked on target (PID converged)

controller.rumble(0.5, 0.3); // 50% intensity, 300ms duration

Rule C: Use LoggedTunableNumber for Manual Overrides

Any driver-adjustable value (arm offset, shot angle trim) MUST use LoggedTunableNumber. This allows pit crew to adjust without recompiling:

private final LoggedTunableNumber armOffset = new LoggedTunableNumber("Operator/ArmOffset", 0.0);

Rule D: Dashboard Minimalism

The main driving AdvantageScope tab shows ONLY:

• Robot pose on field
• Current superstructure state
• Game piece possession
• Active faults/alerts

Raw encoder values, PID errors, and current draws go on a separate debugging tab. Drivers need clarity, not data.

3. Adding New Controller Bindings

1. Define the binding in RobotContainer.configureButtonBindings().
2. Use controller.{button}().onTrue/whileTrue/toggleOnTrue() patterns.
3. Ensure the command requires() the correct subsystems.
4. Add haptic feedback for events the driver can't see.
5. Add rumble cancelation when the event expires.
6. Document the binding in the team's driver cheat sheet.

4. Command API

// Standard bindings in RobotContainer:
driver.a().onTrue(superstructure.setAbsoluteState(INTAKE_FLOOR));
driver.b().onTrue(superstructure.setAbsoluteState(SCORE_HIGH));
driver.x().onTrue(superstructure.setAbsoluteState(STOWED));
driver.leftBumper().whileTrue(new MARSAlignmentCommand(drive, target));
driver.rightBumper().whileTrue(new ShootOnTheMoveCommand(drive, shooter, target));

5. Telemetry

• Operator/ArmOffset — Manual arm trim value
• Operator/ControllerConnected — Boolean: driver controller detected
• LED/CurrentPattern — Active LED pattern name
• LED/FaultFlashActive — Boolean: fault flash override active
• Haptics/LastRumbleTime — Timestamp of last rumble event