From: Wesley28w <wesleycwong@gmail.com>
Date: Sat, 4 Apr 2026 14:55:45 +0000 (-0700)
Subject: rainbow during endgame
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=d4b85f97f92bbd995285c4932411ad89a4d9a961;p=FRC2026.git

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 6611b32..b00a1a8 100644
--- 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)));