From: Ethan Mortensen <ethanmortensen20@gmail.com>
Date: Wed, 25 Feb 2026 23:52:04 +0000 (-0800)
Subject: removing rumble
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=241c9ad0f949302341b90c207bddd628cb5dee72;p=FRC2026.git

removing rumble

even chatGPT could not find why it did not work
---

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index eae6700..fd4457f 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -67,7 +67,6 @@ public class RobotContainer {
   private Operator operator = null;
   private LinearClimb linearClimb = null;
   private LED led = null;
-  private PS5ControllerDriverConfig controller = new PS5ControllerDriverConfig(drive, shooter, turret, hood, intake, spindexer, linearClimb);
 
   // Auto Command selection
   private final SendableChooser<Command> autoChooser = new SendableChooser<>();
@@ -91,7 +90,7 @@ public class RobotContainer {
 
       case TestBed2:
         led = new LED();
-        led.setDefaultCommand(new LEDDefaultCommand(led, controller));
+        led.setDefaultCommand(new LEDDefaultCommand(led));
         break;
 
       default:
diff --git a/src/main/java/frc/robot/commands/led_comm/LEDDefaultCommand.java b/src/main/java/frc/robot/commands/led_comm/LEDDefaultCommand.java
index c2c53f1..492a65a 100644
--- a/src/main/java/frc/robot/commands/led_comm/LEDDefaultCommand.java
+++ b/src/main/java/frc/robot/commands/led_comm/LEDDefaultCommand.java
@@ -17,16 +17,14 @@ import lib.controllers.PS5Controller.PS5Button;
 public class LEDDefaultCommand extends Command {
     private Vision vision;
     private LED led;
-    private PS5ControllerDriverConfig controller;
     // private Outtake outtake;
     private Drivetrain drivetrain;
     private boolean allianceIsRed = DriverStation.getAlliance().get() == DriverStation.Alliance.Red;
 
     
 
-    public LEDDefaultCommand(LED led, PS5ControllerDriverConfig controller) {
+    public LEDDefaultCommand(LED led) {
         this.led = led;
-        this.controller = controller;
         // this.outtake = outtake;
         addRequirements(led);
     }
@@ -44,50 +42,39 @@ public class LEDDefaultCommand extends Command {
         if (fiveSecondsBeforeChange() && allianceIsRed) {
             // blink alliance color and rumble if red alliance 5 seconds before hub shifts
             led.setStrobeLights(255, 0, 0);
-            controller.startRumble();
         } else if (fiveSecondsBeforeChange()) {
             // blink alliance color and rumble if blue alliance 5 seconds before hub shifts
             led.setStrobeLights(0, 0, 255);
-            controller.startRumble();
         } else 
         if (playingDefense()) {
             new DefenseLightsCommand(led, 0, 67);
-            controller.endRumble();
         } else 
         if (DriverStation.isAutonomous() && allianceIsRed){
             // Dimmer light for auto in red alliance
             led.setLEDs(50, 0, 0);
-            controller.endRumble();
         } else if (DriverStation.isAutonomous()){
             // Dimmer light for auto in blue alliance
             led.setLEDs(0, 0, 50);
-            controller.endRumble();
         } else if ((allianceIsRed && gameData.equals("B") && matchTime <= 105 && matchTime >= 80) || (allianceIsRed && gameData.equals("B") && matchTime <= 55 && matchTime >= 30)) {
             // turn light off for inactive hub if red alliance and blue inactive first
             led.setLEDs(0, 0, 0);
-            controller.endRumble();
         } else if ((allianceIsRed && gameData.equals("R") && matchTime <= 130 && matchTime >= 105) || (allianceIsRed && gameData.equals("R") && matchTime <= 80 && matchTime >= 55)) {
             // turn light off for inactive hub if red alliance and red inactive first
             led.setLEDs(0, 0, 0);
-            controller.endRumble();
         } else if ((!allianceIsRed && gameData.equals("B") && matchTime <= 130 && matchTime >= 105) || (!allianceIsRed && gameData.equals("B") && matchTime <= 80 && matchTime >= 55)) {
             // turn off lights for inactive hub if blue alliance and blue inactive first
             led.setLEDs(0, 0, 0);
-            controller.endRumble();
         } else if ((!allianceIsRed && gameData.equals("R") && matchTime <= 105 && matchTime >= 80) || (!allianceIsRed && gameData.equals("R") && matchTime <= 55 && matchTime >= 30)) {
             // turn light off for inactive hub if blue alliance and red inactive first
             led.setLEDs(0, 0, 0);
-            controller.endRumble();
         } else if (allianceIsRed) {
             // Red alliance
             led.setTwoColorWave(255, 0, 0, 255, 255, 255);
             // led.setLEDs(255, 0, 0);
-            controller.endRumble();
         } else {
             // Blue alliance
             led.setTwoColorWave(0, 0, 255, 255, 255, 255);
             // led.setLEDs(0, 0, 255);
-            controller.endRumble();
         }
     }