save

diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java
index 50d053062093d92bb69953a7af306d96d916ffd6..3df7e6f0456bfbc8f9ec5dfa06da48e46d4b5485 100644 (file)
--- a/src/main/java/frc/robot/constants/Constants.java
+++ b/src/main/java/frc/robot/constants/Constants.java
@@ -21,8 +21,8 @@ public class Constants {
     public static final boolean USE_TELEMETRY = true;
 
     // this would disable all logger calls
-    public static final boolean DISABLE_LOGGING = false;
-    public static final boolean DISABLE_SMART_DASHBOARD = false; // wont disable auto picker
+    public static final boolean DISABLE_LOGGING = true;
+    public static final boolean DISABLE_SMART_DASHBOARD = true; // wont disable auto picker
 
     public static enum Mode {
         /** Running on a real robot. */

diff --git a/src/main/java/frc/robot/subsystems/LED/LED2.java b/src/main/java/frc/robot/subsystems/LED/LED2.java
index 415268b95a233a1e68371e2c78ee1f15ac9fa046..60466525171f7972a1a34727fd680552396bdf2a 100644 (file)
--- a/src/main/java/frc/robot/subsystems/LED/LED2.java
+++ b/src/main/java/frc/robot/subsystems/LED/LED2.java
@@ -21,6 +21,7 @@ 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.constants.Constants;
 import frc.robot.constants.IdConstants;
 import frc.robot.util.HubActive;
 
@@ -35,7 +36,7 @@ public class LED2 extends SubsystemBase {
        private Color color;
        
        public LED2() {
-               candle = new CANdle(IdConstants.CANDLE_ID);
+               candle = new CANdle(IdConstants.CANDLE_ID, Constants.RIO_CAN);
                CANdleConfigurator configurator = candle.getConfigurator();
 
                LEDConfigs ledConf = new LEDConfigs()
@@ -62,16 +63,30 @@ public class LED2 extends SubsystemBase {
                        color = Color.kWhite;
                }
 
-               setStatic();
+               // setStatic();
 
                System.out.println("CANdle features: " + featureConf + ", LED config: " + ledConf);
 
-               SmartDashboard.putData("LED Strobe", new InstantCommand(() -> setStrobe()));
-               SmartDashboard.putData("LED Static", new InstantCommand(() -> setStatic()));
+               SmartDashboard.putData("LED Strobe", new InstantCommand(() -> setStrobe()).ignoringDisable(true));
+               SmartDashboard.putData("LED Static", new InstantCommand(() -> setStatic()).ignoringDisable(true));
+               SmartDashboard.putData("Set LED color", new InstantCommand(() -> setColor()));
        }
 
        private boolean flippy = true;
 
+       public void setColor() {
+               var alliance = DriverStation.getAlliance();
+               if (alliance.isEmpty()) {
+                       color = Color.kWhite;
+               } else if (alliance.get() == Alliance.Red) {
+                       color = Color.kRed;
+               } else if (alliance.get() == Alliance.Blue) {
+                       color = Color.kBlue;
+               } else {
+                       color = Color.kWhite;
+               }
+       }
+
        @Override
        public void periodic() {
                if (underSecsToFlip(5.0) && flippy) {

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index ebc3f6531f6f277c436c099021ab003974356293..e23dfb984fa2129ee29a0498c854d28ab4ea56e8 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -105,16 +105,14 @@ public class Turret extends SubsystemBase implements TurretIO{
                        SmartDashboard.putData("Start turret calibration", new InstantCommand(()-> calibrate()));
                        SmartDashboard.putData("Stop turret calibration", new InstantCommand(()-> stopCalibrating()));
                        SmartDashboard.putData("Reset Turret Position to Zero", new InstantCommand(() -> resetTurretPosition()));
-               }
 
-               SendableChooser<InstantCommand> turretTestChooser = new SendableChooser<>();
-               turretTestChooser.setDefaultOption("Turn to 0", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(0), 0.0)));
-               turretTestChooser.addOption("Turn to -90", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(-90), 0.0)));
-               turretTestChooser.addOption("Turn to 90", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(90), 0.0)));
-               turretTestChooser.addOption("Turn to 200", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(200), 0.0)));
-               turretTestChooser.addOption("Turn to -200", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(-200), 0.0)));
-               
-               if (!Constants.DISABLE_SMART_DASHBOARD) {
+                       SendableChooser<InstantCommand> turretTestChooser = new SendableChooser<>();
+                       turretTestChooser.setDefaultOption("Turn to 0", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(0), 0.0)));
+                       turretTestChooser.addOption("Turn to -90", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(-90), 0.0)));
+                       turretTestChooser.addOption("Turn to 90", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(90), 0.0)));
+                       turretTestChooser.addOption("Turn to 200", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(200), 0.0)));
+                       turretTestChooser.addOption("Turn to -200", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(-200), 0.0)));
+
                        SmartDashboard.putData("Turret Test Positions", turretTestChooser);
                }
                //motor.setPosition(Units.degreesToRotations(238.86) * TurretConstants.GEAR_RATIO);