From: iefomit Date: Fri, 20 Mar 2026 02:33:43 +0000 (-0700) Subject: added overrides, npe X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=2e567f16a52fcff0f8d8caa7ac2e8ad20c1c6e04;p=FRC2026.git added overrides, npe --- diff --git a/src/main/java/frc/robot/commands/led_comm/ChangeModeCommand.java b/src/main/java/frc/robot/commands/led_comm/ChangeModeCommand.java index 79a95bc..fd20874 100644 --- a/src/main/java/frc/robot/commands/led_comm/ChangeModeCommand.java +++ b/src/main/java/frc/robot/commands/led_comm/ChangeModeCommand.java @@ -14,10 +14,12 @@ public class ChangeModeCommand extends Command { addRequirements(led); } + @Override public void initialize() { mode++; } + @Override public void execute() { if (mode == 0) { led.setLEDs(0, 0, 0); @@ -30,11 +32,13 @@ public class ChangeModeCommand extends Command { } } + @Override public boolean isFinished() { return false; } - public void end() { + @Override + public void end(boolean interrupted) { } } diff --git a/src/main/java/frc/robot/commands/led_comm/DefenseLightsCommand.java b/src/main/java/frc/robot/commands/led_comm/DefenseLightsCommand.java index e6e061e..5b42313 100644 --- a/src/main/java/frc/robot/commands/led_comm/DefenseLightsCommand.java +++ b/src/main/java/frc/robot/commands/led_comm/DefenseLightsCommand.java @@ -17,30 +17,31 @@ public class DefenseLightsCommand extends Command { addRequirements(led); } + @Override public void initialize() { counter = 0; } + @Override public void execute() { counter++; if (counter == 1) { - // setLEDs(255, 0, 0); led.alternate(255, 0, 0, 0, 0, 255, 5, startOffset, length); } else if (counter == 20) { - // setLEDs(0, 0, 255); led.alternate(0, 0, 255, 255, 0, 0, 5, startOffset, length); } if (counter >= 40) { counter = 0; } - } + @Override public boolean isFinished() { return false; } + @Override public void end(boolean interrupted) { } 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 f1e694e..84ef1e1 100644 --- a/src/main/java/frc/robot/commands/led_comm/LEDDefaultCommand.java +++ b/src/main/java/frc/robot/commands/led_comm/LEDDefaultCommand.java @@ -3,25 +3,18 @@ package frc.robot.commands.led_comm; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj2.command.Command; import frc.robot.subsystems.LED.LED; -import frc.robot.subsystems.drivetrain.Drivetrain; -import frc.robot.util.Vision.Vision; public class LEDDefaultCommand extends Command { - private Vision vision; private LED led; - // private Outtake outtake; - private Drivetrain drivetrain; private boolean allianceIsRed = DriverStation.getAlliance().get() == DriverStation.Alliance.Red; public LEDDefaultCommand(LED led) { this.led = led; - // this.outtake = outtake; addRequirements(led); } @Override public void execute() { - double matchTime = DriverStation.getMatchTime(); String gameData = DriverStation.getGameSpecificMessage(); // if (vision.oneCameraDisconnected() || @@ -37,40 +30,43 @@ public class LEDDefaultCommand extends Command { // blink alliance color and rumble if blue alliance 5 seconds before hub shifts led.setStrobeLights(0, 0, 255); } else if (playingDefense()) { - new DefenseLightsCommand(led, 0, 67); + led.alternate(255, 0, 0, 0, 0, 255, 5, 0, 67); } else if (DriverStation.isAutonomous() && allianceIsRed) { // Dimmer light for auto in red alliance led.setLEDs(50, 0, 0); } else if (DriverStation.isAutonomous()) { // Dimmer light for auto in blue alliance led.setLEDs(0, 0, 50); - } else if ((allianceIsRed && gameData.equals("B") && matchTime <= 105 && matchTime >= 80) - || (allianceIsRed && gameData.equals("B") && matchTime <= 55 && matchTime >= 30)) { + } else if (gameData != null && ((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); - } else if ((allianceIsRed && gameData.equals("R") && matchTime <= 130 && matchTime >= 105) - || (allianceIsRed && gameData.equals("R") && matchTime <= 80 && matchTime >= 55)) { + } else if (gameData != null && ((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); - } else if ((!allianceIsRed && gameData.equals("B") && matchTime <= 130 && matchTime >= 105) - || (!allianceIsRed && gameData.equals("B") && matchTime <= 80 && matchTime >= 55)) { + } else if (gameData != null && ((!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); - } else if ((!allianceIsRed && gameData.equals("R") && matchTime <= 105 && matchTime >= 80) - || (!allianceIsRed && gameData.equals("R") && matchTime <= 55 && matchTime >= 30)) { + } else if (gameData != null && ((!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); } else if (allianceIsRed) { // Red alliance led.setTwoColorWave(255, 0, 0, 255, 255, 255); - // led.setLEDs(255, 0, 0); } else { // Blue alliance led.setTwoColorWave(0, 0, 255, 255, 255, 255); - // led.setLEDs(0, 0, 255); } } + @Override + public boolean isFinished() { + return false; + } + private boolean fiveSecondsBeforeChange() { double time = DriverStation.getMatchTime(); if ((time <= 135 && time >= 130) || (time <= 110 && time >= 105) || (time <= 85 && time >= 80) diff --git a/src/main/java/frc/robot/commands/led_comm/LEDSensorCommand.java b/src/main/java/frc/robot/commands/led_comm/LEDSensorCommand.java index 95b5b05..39ae496 100644 --- a/src/main/java/frc/robot/commands/led_comm/LEDSensorCommand.java +++ b/src/main/java/frc/robot/commands/led_comm/LEDSensorCommand.java @@ -29,4 +29,9 @@ public class LEDSensorCommand extends Command { } } + @Override + public boolean isFinished() { + return false; + } + } diff --git a/src/main/java/frc/robot/commands/led_comm/PaintCommand.java b/src/main/java/frc/robot/commands/led_comm/PaintCommand.java index 04c2cd2..d10a38b 100644 --- a/src/main/java/frc/robot/commands/led_comm/PaintCommand.java +++ b/src/main/java/frc/robot/commands/led_comm/PaintCommand.java @@ -16,18 +16,22 @@ public class PaintCommand extends Command { addRequirements(led); } + @Override public void initialize() { led.setSection(0, 0, 255, start, end); } + @Override public void execute() { led.setTwoColorWave(30, 0, 80, 255, 255, 255); } + @Override public boolean isFinished() { return false; } + @Override public void end(boolean interrupted) { } diff --git a/src/main/java/frc/robot/commands/led_comm/TurnOffLEDsCommand.java b/src/main/java/frc/robot/commands/led_comm/TurnOffLEDsCommand.java index 22398af..cd7b31f 100644 --- a/src/main/java/frc/robot/commands/led_comm/TurnOffLEDsCommand.java +++ b/src/main/java/frc/robot/commands/led_comm/TurnOffLEDsCommand.java @@ -12,18 +12,22 @@ public class TurnOffLEDsCommand extends Command { addRequirements(led); } + @Override public void initialize() { led.setLEDs(0, 0, 0); } + @Override public void execute() { } + @Override public boolean isFinished() { return false; } + @Override public void end(boolean interrupted) { }