rainbow during endgame

diff --git a/src/main/java/frc/robot/subsystems/LED/LED2.java b/src/main/java/frc/robot/subsystems/LED/LED2.java
index 6611b32d1bac84dd606c3736fb5a22248ad21a98..b00a1a84c28a9d667881a29ec4c0270502d88431 100644 (file)
--- a/src/main/java/frc/robot/subsystems/LED/LED2.java
+++ b/src/main/java/frc/robot/subsystems/LED/LED2.java
@@ -5,6 +5,7 @@ import java.util.Optional;
 import com.ctre.phoenix6.configs.CANdleConfigurator;
 import com.ctre.phoenix6.configs.CANdleFeaturesConfigs;
 import com.ctre.phoenix6.configs.LEDConfigs;
+import com.ctre.phoenix6.controls.ColorFlowAnimation;
 import com.ctre.phoenix6.controls.FireAnimation;
 import com.ctre.phoenix6.controls.RainbowAnimation;
 import com.ctre.phoenix6.controls.RgbFadeAnimation;
@@ -72,7 +73,7 @@ public class LED2 extends SubsystemBase {
                SmartDashboard.putData("LED Rainbow", new InstantCommand(() -> setRainbow()).ignoringDisable(true));
                SmartDashboard.putData("LED Fade", new InstantCommand(() -> setRgbFadeAnimation()).ignoringDisable(true));
                SmartDashboard.putData("LED Twinkle", new InstantCommand(() -> setTwinkle()).ignoringDisable(true));
-
+               SmartDashboard.putData("LED Color Flow", new InstantCommand(() -> setColorFlow()).ignoringDisable(true));
                SmartDashboard.putData("LED Color Team Reset", new InstantCommand(() -> setColor()).ignoringDisable(true));
        }
 
@@ -89,7 +90,7 @@ public class LED2 extends SubsystemBase {
                }
        }
 
-       private enum State { OFF, ON, AUTO, SLOW, FAST };
+       private enum State { OFF, ON, AUTO, SLOW, FAST, ENDGAME };
 
        private State lastState = State.OFF;
        private boolean forceOff = false;
@@ -100,6 +101,7 @@ public class LED2 extends SubsystemBase {
                if (underSecsToFlip(5)) targetState = State.SLOW;
                if (underSecsToFlip(1)) targetState = State.FAST;
                if (DriverStation.isAutonomous()) targetState = State.AUTO;
+               if (DriverStation.getMatchTime() < 30) targetState = State.ENDGAME;
                if (forceOff) targetState = State.OFF;
 
                if (targetState != lastState) {
@@ -109,6 +111,7 @@ public class LED2 extends SubsystemBase {
                                case AUTO: setFire(); break;
                                case SLOW: setStrobe(); break;
                                case FAST: setFastStrobe(); break;
+                               case ENDGAME: setRainbow(); break;
                        }
                        lastState = targetState;
                }
@@ -134,6 +137,11 @@ public class LED2 extends SubsystemBase {
                candle.setControl(new TwinkleAnimation(8, 8 + stripLength).withColor(new RGBWColor(Color.kViolet)));
        }
 
+       public void setColorFlow() {
+               candle.clearAllAnimations();
+               candle.setControl(new ColorFlowAnimation(8, 8 + stripLength).withColor(new RGBWColor(Color.kAzure)));
+       }
+
        public void setStrobe() {
                candle.clearAllAnimations();
                candle.setControl(new StrobeAnimation(8, 8 + stripLength).withFrameRate(FLASH_RATE).withColor(new RGBWColor(color)));