more

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 9248a782d9fca8b0fe5da8f5394bf997678d1141..db87084b75436c3957a50944e37c27adc796cc12 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -37,7 +37,6 @@ import frc.robot.controls.Operator;
 import frc.robot.controls.PS5ControllerDriverConfig;
 import frc.robot.subsystems.Climb.LinearClimb;
 import frc.robot.subsystems.Intake.Intake;
-import frc.robot.subsystems.LED.LED;
 import frc.robot.subsystems.LED.LED2;
 import frc.robot.subsystems.drivetrain.Drivetrain;
 import frc.robot.subsystems.drivetrain.GyroIOPigeon2;

diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index f9f6caa7a29919c2da4c7c18839e47813816c2fe..07fba40fc67928e24783063bc7b063220a3531bb 100644 (file)
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -15,7 +15,6 @@ import frc.robot.commands.gpm.Superstructure;
 import frc.robot.constants.Constants;
 import frc.robot.subsystems.Climb.LinearClimb;
 import frc.robot.subsystems.Intake.Intake;
-import frc.robot.subsystems.LED.LED;
 import frc.robot.subsystems.drivetrain.Drivetrain;
 import frc.robot.subsystems.hood.Hood;
 import frc.robot.subsystems.shooter.Shooter;

diff --git a/src/main/java/frc/robot/subsystems/LED/LED2.java b/src/main/java/frc/robot/subsystems/LED/LED2.java
index 2c5d87eaad052aa4e2414ba723984b25da29a28d..6611b32d1bac84dd606c3736fb5a22248ad21a98 100644 (file)
--- a/src/main/java/frc/robot/subsystems/LED/LED2.java
+++ b/src/main/java/frc/robot/subsystems/LED/LED2.java
@@ -10,6 +10,7 @@ import com.ctre.phoenix6.controls.RainbowAnimation;
 import com.ctre.phoenix6.controls.RgbFadeAnimation;
 import com.ctre.phoenix6.controls.SolidColor;
 import com.ctre.phoenix6.controls.StrobeAnimation;
+import com.ctre.phoenix6.controls.TorqueCurrentFOC;
 import com.ctre.phoenix6.controls.TwinkleAnimation;
 import com.ctre.phoenix6.hardware.CANdle;
 import com.ctre.phoenix6.signals.Enable5VRailValue;
@@ -130,7 +131,7 @@ public class LED2 extends SubsystemBase {
 
        public void setTwinkle() {
                candle.clearAllAnimations();
-               candle.setControl(new TwinkleAnimation(8, 8 + stripLength));
+               candle.setControl(new TwinkleAnimation(8, 8 + stripLength).withColor(new RGBWColor(Color.kViolet)));
        }
 
        public void setStrobe() {
@@ -160,10 +161,10 @@ public class LED2 extends SubsystemBase {
 
                if (timeToActive.isEmpty() && timeToInactive.isEmpty()) {
                        return false;
-               } else if (timeToActive.isPresent()) {
+               } else if (timeToActive.isPresent() && timeToActive.get() != 0) {
                        return (timeToActive.get() <= secs);
 
-               } else if (timeToInactive.isPresent()) {
+               } else if (timeToInactive.isPresent() && timeToInactive.get() != 0) {
                        return (timeToInactive.get() <= secs);
                } else {
                        return false;