testing stuff

simgui.json

@@ -87,7 +87,7 @@
             0.0,
             0.8500000238418579
           ],
-          "height": 338
+          "height": 177
         }
       ]
     }

src/main/java/org/carlmontrobotics/Constants.java

@@ -51,7 +51,7 @@ public static final class Led {
 
 
 		public static final Color8Bit DEFAULT_COLOR_BLUE = new Color8Bit(0, 0, 200);
-		public static final Color8Bit DETECT_NOTE_ORANGE = new Color8Bit(250,140,3);
+		public static final Color8Bit DETECT_NOTE_YELLOW = new Color8Bit(255,255,0);
 		public static final Color8Bit HOLDING_GREEN = new Color8Bit(0,250,0);
 		public static final int ledPort = 0;
 		//TODO: figure out how to get port of LED, it could be 0 or

src/main/java/org/carlmontrobotics/subsystems/Led.java

@@ -2,6 +2,7 @@
 
 import edu.wpi.first.wpilibj.AddressableLED;
 import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.util.Color8Bit;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -14,6 +15,8 @@ public class Led extends SubsystemBase{
     private final AddressableLED led = new AddressableLED(9);
     private final IntakeShooter intakeshooter;
     private int midpoint = (int)ledBuffer.getLength()/2; 
+    private int color = 1;
+
     //rounds down
     // public static final double midpoint = Math.floor(ledLength/2); 
     //public static final int ledLength = led.getLength();
@@ -23,11 +26,13 @@ public Led(IntakeShooter intakeShooter){
         this.intakeshooter = intakeShooter;
         led.setLength(ledBuffer.getLength());
         led.setData(ledBuffer);
-                led.start();
+        led.start();
 
         setLedColor(DEFAULT_COLOR_BLUE, 0 , getLength());
+        SmartDashboard.putNumber("color", color);
 
     }
+
     public void setLedColor(Color8Bit color, int start, int end) {
         for (int i = start; i < end ; i++)
             ledBuffer.setRGB(i, color.red, color.green, color.blue);
@@ -38,15 +43,28 @@ public int getLength(){
     }
     @Override
     public void periodic(){
-        System.err.println("skdjfksd");
-        if (intakeshooter.intakeDetectsNote() && !intakeshooter.outakeDetectsNote()) {
-            setLedColor(DETECT_NOTE_ORANGE, 0, midpoint);
+        //System.err.println("skdjfksd");
+
+        //testing
+        if (SmartDashboard.getNumber("color", color) == 1) {
+            setLedColor(DETECT_NOTE_YELLOW, 0,getLength());
             //when intake TOF detects, but outtake TOF does not the bottom half of the LEDs become orange
 
         }
-        else if(!intakeshooter.intakeDetectsNote() && intakeshooter.outakeDetectsNote()){
-            setLedColor(DETECT_NOTE_ORANGE,midpoint, getLength());
-            //when outtake TOF detects, but intake TOF does not the top half of the LEDs become orange
+        else if (SmartDashboard.getNumber("color", color) ==2) {
+            setLedColor(HOLDING_GREEN, 0, getLength());
+            //when both TOFs detect and the end efforcter is holding the note the LEDS turn green
+
+        }
+        else if (SmartDashboard.getNumber("color", color) == 3){
+            setLedColor(DEFAULT_COLOR_BLUE, 0, getLength());
+            //otherwise LEds are blue
+        }
+
+        /*if (intakeshooter.intakeDetectsNote() && !intakeshooter.outakeDetectsNote()) {
+            setLedColor(DETECT_NOTE_YELLOW, 0,getLength());
+            //when intake TOF detects, but outtake TOF does not the bottom half of the LEDs become orange
+
         }
         else if (intakeshooter.intakeDetectsNote() && intakeshooter.outakeDetectsNote()) {
             setLedColor(HOLDING_GREEN, 0, getLength());
@@ -57,8 +75,7 @@ else if (intakeshooter.intakeDetectsNote() && intakeshooter.outakeDetectsNote())
             setLedColor(DEFAULT_COLOR_BLUE, 0, getLength());
             //otherwise LEds are blue
         }
-
-        setLedColor(DEFAULT_COLOR_BLUE, 0, getLength());
+        */