LEDs with enums. v cool

diff --git a/src/main/java/frc/robot/subsystems/LED/LED2.java b/src/main/java/frc/robot/subsystems/LED/LED2.java
index 740833a342f41b27857ee305cfe91ae45cff0cbd..04d09829eae36e457cde71ea7a73efd342514178 100644 (file)
--- a/src/main/java/frc/robot/subsystems/LED/LED2.java
+++ b/src/main/java/frc/robot/subsystems/LED/LED2.java
@@ -1,13 +1,11 @@
 package frc.robot.subsystems.LED;
 
 import java.util.Optional;
-import java.util.zip.GZIPInputStream;
 
 import com.ctre.phoenix6.configs.CANdleConfigurator;
 import com.ctre.phoenix6.configs.CANdleFeaturesConfigs;
 import com.ctre.phoenix6.configs.LEDConfigs;
 import com.ctre.phoenix6.controls.FireAnimation;
-import com.ctre.phoenix6.controls.LarsonAnimation;
 import com.ctre.phoenix6.controls.RainbowAnimation;
 import com.ctre.phoenix6.controls.RgbFadeAnimation;
 import com.ctre.phoenix6.controls.SolidColor;
@@ -27,7 +25,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.Robot;
 import frc.robot.constants.Constants;
 import frc.robot.constants.IdConstants;
 import frc.robot.util.HubActive;
@@ -66,7 +63,8 @@ public class LED2 extends SubsystemBase {
 
                System.out.println("CANdle features: " + featureConf + ", LED config: " + ledConf);
 
-               SmartDashboard.putData("LED Off", new InstantCommand(() -> lightsOff()).ignoringDisable(true));
+               SmartDashboard.putData("LED Disable", new InstantCommand(() -> {forceOff = true; lightsOff();}).ignoringDisable(true));
+               SmartDashboard.putData("LED Enable", new InstantCommand(() -> forceOff = false).ignoringDisable(true));
                SmartDashboard.putData("LED Strobe", new InstantCommand(() -> setStrobe()).ignoringDisable(true));
                SmartDashboard.putData("LED Static", new InstantCommand(() -> setStatic()).ignoringDisable(true));
                SmartDashboard.putData("LED Fire", new InstantCommand(() -> setFire()).ignoringDisable(true));
@@ -91,37 +89,30 @@ public class LED2 extends SubsystemBase {
                }
        }
 
-       private boolean flippy = true;
-       private boolean fastFlippy = true;
-       private boolean autoFlippy = true;
 
-       @Override
-       public void periodic() {
-
-               if (DriverStation.isAutonomous() && autoFlippy) {
-                       setFire();
-                       autoFlippy = false;
-                       return;
-               } else if (!DriverStation.isAutonomous() && !autoFlippy) {
-                       setStatic();
-                       autoFlippy = true;
-               }
+       private enum State { OFF, ON, AUTO, SLOW, FAST };
 
-               if (underSecsToFlip(1.0) && fastFlippy) {
-                       setFastStrobe();
-                       fastFlippy = false;
-               } else if (!underSecsToFlip(1.0) && !fastFlippy) {
-                       fastFlippy = true;
-               }
+       private State lastState = State.OFF;
+       private boolean forceOff = false;
 
-               if (underSecsToFlip(5.0) && flippy) {
-                       setStrobe();
-                       flippy = false;
-               } else if (!underSecsToFlip(5.0) && !flippy) {
-                       setStatic();
-                       flippy = true;
+       @Override
+       public void periodic() {
+               State targetState = State.ON;
+               if (underSecsToFlip(5)) targetState = State.SLOW;
+               if (underSecsToFlip(1)) targetState = State.FAST;
+               if (DriverStation.isAutonomousEnabled()) targetState = State.AUTO;
+               if (forceOff) targetState = State.OFF;
+
+               if (targetState != lastState) {
+                       switch (targetState) {
+                               case OFF: lightsOff(); break;
+                               case ON: setStatic(); break;
+                               case AUTO: setFire(); break;
+                               case SLOW: setStrobe(); break;
+                               case FAST: setFastStrobe(); break;
+                       }
+                       lastState = targetState;
                }
-
        }
 
        public void setFire() {