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added orange LED color for climber #313

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added orange LED color for climber #313

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b1d92bd
added orange LED color for climbe
JAMthepersonj Mar 31, 2025
e3cdbaa
update
JAMthepersonj Mar 31, 2025
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4 changes: 2 additions & 2 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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));
Expand Down Expand Up @@ -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));
Expand Down
2 changes: 2 additions & 0 deletions src/main/java/frc/robot/commands/lightStrip/SetLedFromElevatorPosition.java
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Expand Up @@ -36,6 +36,8 @@ public void execute() {
case LEVEL4:
lightStrip.setPattern(BlinkinPattern.RAINBOW_RAINBOW_PALETTE);
break;
case CLIMB:
break;
default:
DriverStation.reportWarning("Invalid Reef Position selected", true);
break;
Expand Down
7 changes: 5 additions & 2 deletions src/main/java/frc/robot/commands/sequences/DeployHarpoon.java
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Expand Up @@ -4,22 +4,25 @@
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 {
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));
}
}