fast blinky one sec till flip

diff --git a/src/main/java/frc/robot/subsystems/LED/LED2.java b/src/main/java/frc/robot/subsystems/LED/LED2.java
index fa0b0cf1defd5634b4ed1b8c624c57c5b3fc91a1..47ad4529b822b274a5441f2938029c7c2542bf2b 100644 (file)
--- a/src/main/java/frc/robot/subsystems/LED/LED2.java
+++ b/src/main/java/frc/robot/subsystems/LED/LED2.java
@@ -52,16 +52,7 @@ public class LED2 extends SubsystemBase {
                configurator.apply(featureConf);
                configurator.apply(ledConf);
 
-               var alliance = DriverStation.getAlliance();
-               if (alliance.isEmpty()) {
-                       color = Color.kOrange;
-               } else if (alliance.get() == Alliance.Red) {
-                       color = Color.kRed;
-               } else if (alliance.get() == Alliance.Blue) {
-                       color = Color.kOrange;
-               } else {
-                       color = Color.kWhite;
-               }
+               setColor();
 
                candle.clearAllAnimations();
                setStatic();
@@ -71,37 +62,35 @@ public class LED2 extends SubsystemBase {
                SmartDashboard.putData("LED Off", new InstantCommand(() -> lightsOff()).ignoringDisable(true));
                SmartDashboard.putData("LED Strobe", new InstantCommand(() -> setStrobe()).ignoringDisable(true));
                SmartDashboard.putData("LED Static", new InstantCommand(() -> setStatic()).ignoringDisable(true));
-               SmartDashboard.putData("LED Color/Team Reset", new InstantCommand(() -> {
-                       var allianceeee = DriverStation.getAlliance();
-                       if (allianceeee.isEmpty()) {
-                               color = Color.kWhite;
-                       } else if (allianceeee.get() == Alliance.Red) {
-                               color = Color.kRed;
-                       } else if (allianceeee.get() == Alliance.Blue) {
-                               color = Color.kBlue;
-                       } else {
-                               color = Color.kWhite;
-                       }
-               }).ignoringDisable(true));
+               SmartDashboard.putData("LED Color/Team Reset", new InstantCommand(() -> setColor()).ignoringDisable(true));
        }
 
-       private boolean flippy = true;
 
        public void setColor() {
                var alliance = DriverStation.getAlliance();
                if (alliance.isEmpty()) {
-                       color = Color.kWhite;
+                       color = Color.kOrangeRed;
                } else if (alliance.get() == Alliance.Red) {
                        color = Color.kRed;
                } else if (alliance.get() == Alliance.Blue) {
                        color = Color.kBlue;
                } else {
-                       color = Color.kWhite;
+                       color = Color.kOrangeRed;
                }
        }
 
+       private boolean flippy = true;
+       private boolean fastFlippy = true;
+
        @Override
        public void periodic() {
+               if (underSecsToFlip(1.0) && fastFlippy) {
+                       setFastStrobe();
+                       fastFlippy = false;
+               } else if (!underSecsToFlip(1.0) && !flippy) {
+                       fastFlippy = true;
+               }
+
                if (underSecsToFlip(5.0) && flippy) {
                        setStrobe();
                        flippy = false;
@@ -109,6 +98,7 @@ public class LED2 extends SubsystemBase {
                        setStatic();
                        flippy = true;
                }
+
        }
 
        public void setStrobe() {
@@ -116,6 +106,11 @@ public class LED2 extends SubsystemBase {
                candle.setControl(new StrobeAnimation(8, 8 + stripLength).withFrameRate(FLASH_RATE).withColor(new RGBWColor(color)));
        }
 
+       public void setFastStrobe() {
+               candle.clearAllAnimations();
+               candle.setControl(new StrobeAnimation(8, 8 + stripLength).withFrameRate(FLASH_RATE * 4).withColor(new RGBWColor(color)));
+       }
+
        public void setStatic() {
                candle.clearAllAnimations();
                candle.setControl(new SolidColor(8, 8 + stripLength).withColor(new RGBWColor(color)));