From b1d92bd33e9f8b3aa8e433f73fec6a0875bfffc4 Mon Sep 17 00:00:00 2001 From: jamthepersonj Date: Sun, 30 Mar 2025 20:13:33 -0400 Subject: [PATCH 1/2] added orange LED color for climbe --- .../robot/commands/lightStrip/SetLedFromElevatorPosition.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/frc/robot/commands/lightStrip/SetLedFromElevatorPosition.java b/src/main/java/frc/robot/commands/lightStrip/SetLedFromElevatorPosition.java index ecb12ca3..2853e8f0 100644 --- a/src/main/java/frc/robot/commands/lightStrip/SetLedFromElevatorPosition.java +++ b/src/main/java/frc/robot/commands/lightStrip/SetLedFromElevatorPosition.java @@ -36,6 +36,9 @@ public void execute() { case LEVEL4: lightStrip.setPattern(BlinkinPattern.RAINBOW_RAINBOW_PALETTE); break; + case CLIMB: + lightStrip.setPattern(BlinkinPattern.ORANGE); + break; default: DriverStation.reportWarning("Invalid Reef Position selected", true); break; From e3cdbaa84dc09c81f9c54fe5446ea743756eac5f Mon Sep 17 00:00:00 2001 From: jamthepersonj Date: Sun, 30 Mar 2025 20:16:54 -0400 Subject: [PATCH 2/2] update --- src/main/java/frc/robot/RobotContainer.java | 4 ++-- .../commands/lightStrip/SetLedFromElevatorPosition.java | 1 - .../java/frc/robot/commands/sequences/DeployHarpoon.java | 7 +++++-- 3 files changed, 7 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 263dab59..6d33b204 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -269,7 +269,7 @@ private void configureBindings() { controller.a().onTrue(new ClimbToLimit(climber, Constants.CLIMBER_PHASE2_SPEED)); controller .b() - .onTrue(new DeployHarpoon(climber, elevatorSubsystem, lightStrip, ElevatorPosition.CLIMB)); + .onTrue(new DeployHarpoon(climber, elevatorSubsystem, lightStrip, ElevatorPosition.CLIMB, lightStrip)); // controller.a().onTrue(new DeployClimber(climber)); controller.x().onTrue(new ByeByeAllDone(byebyeTilt, byebyeRoller, elevatorSubsystem)); controller.y().onTrue(new RemoveAlgaeFromReef(byebyeTilt, byebyeRoller, elevatorSubsystem)); @@ -542,7 +542,7 @@ public void putShuffleboardCommands() { if (Constants.CLIMBER_DEBUG) { SmartDashboard.putData(new ClimbToLimit(climber, Constants.CLIMBER_PHASE2_SPEED)); SmartDashboard.putData( - new DeployHarpoon(climber, elevatorSubsystem, lightStrip, ElevatorPosition.CLIMB)); + new DeployHarpoon(climber, elevatorSubsystem, lightStrip, ElevatorPosition.CLIMB, lightStrip)); // Climber Commands // SmartDashboard.putData( "Reset Climber", new ResetClimber(climber)); diff --git a/src/main/java/frc/robot/commands/lightStrip/SetLedFromElevatorPosition.java b/src/main/java/frc/robot/commands/lightStrip/SetLedFromElevatorPosition.java index 2853e8f0..44dab82b 100644 --- a/src/main/java/frc/robot/commands/lightStrip/SetLedFromElevatorPosition.java +++ b/src/main/java/frc/robot/commands/lightStrip/SetLedFromElevatorPosition.java @@ -37,7 +37,6 @@ public void execute() { lightStrip.setPattern(BlinkinPattern.RAINBOW_RAINBOW_PALETTE); break; case CLIMB: - lightStrip.setPattern(BlinkinPattern.ORANGE); break; default: DriverStation.reportWarning("Invalid Reef Position selected", true); diff --git a/src/main/java/frc/robot/commands/sequences/DeployHarpoon.java b/src/main/java/frc/robot/commands/sequences/DeployHarpoon.java index 818db7e0..98ace93c 100644 --- a/src/main/java/frc/robot/commands/sequences/DeployHarpoon.java +++ b/src/main/java/frc/robot/commands/sequences/DeployHarpoon.java @@ -4,10 +4,12 @@ import frc.robot.commands.elevator.ElevatorToStoredPosition; import frc.robot.commands.elevator.SetElevatorStoredPosition; import frc.robot.commands.elevator.WaitTillElevatorAtPosition; +import frc.robot.commands.lightStrip.SetLedPattern; import frc.robot.constants.ElevatorPosition; import frc.robot.subsystems.climber.ClimberSubsystem; import frc.robot.subsystems.elevator.ElevatorSubsystem; import frc.robot.subsystems.lightStrip.LightStrip; +import frc.robot.utils.BlinkinPattern; import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; public class DeployHarpoon extends LoggableSequentialCommandGroup { @@ -15,11 +17,12 @@ public DeployHarpoon( ClimberSubsystem climber, ElevatorSubsystem elevator, LightStrip lightstrip, - ElevatorPosition safeElevatorPosition) { + ElevatorPosition safeElevatorPosition, LightStrip lightStrip) { super( new SetElevatorStoredPosition(safeElevatorPosition, elevator, lightstrip), new ElevatorToStoredPosition(elevator), new WaitTillElevatorAtPosition(elevator, safeElevatorPosition.getElevatorHeight()), - new DeployClimber(climber)); + new DeployClimber(climber), + new SetLedPattern(lightStrip, BlinkinPattern.ORANGE)); } }