From f029b3a8f6c5ad42ec2c022be439b69a97b1cbb0 Mon Sep 17 00:00:00 2001
From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Fri, 3 Apr 2026 09:26:37 -0700
Subject: [PATCH] save

---
 .../java/frc/robot/constants/Constants.java   |  4 ++--
 .../java/frc/robot/subsystems/LED/LED2.java   | 23 +++++++++++++++----
 .../frc/robot/subsystems/turret/Turret.java   | 16 ++++++-------
 3 files changed, 28 insertions(+), 15 deletions(-)

diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java
index 50d0530..3df7e6f 100644
--- 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 415268b..6046652 100644
--- 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 ebc3f65..e23dfb9 100644
--- 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);
-- 
2.39.5