coded and assigned panic button 🦟™️

src/main/java/frc/robot/Constants.java

@@ -85,6 +85,9 @@ public static class constLEDs {
     public static final double LED_BRIGHTNESS = 1;
 
     public static final int[] SHOOTER_UP_TO_SPEED_COLOR = { 36, 240, 83 };
+    public static final int[] INTAKE_GAME_PIECE_COLLECTED = { 240, 186, 36 };
+    public static final ColorFlowAnimation PANIC_ANIMATION = new ColorFlowAnimation(76, 22, 105, 0, 0.95, LED_NUMBER,
+        Direction.Forward);
 
     public static final ColorFlowAnimation AMPLIFY_ANIMATION = new ColorFlowAnimation(160, 10, 247, 0, 0.95, LED_NUMBER,
         Direction.Forward);

src/main/java/frc/robot/RobotContainer.java

@@ -28,6 +28,7 @@
 import frc.robot.commands.Shoot;
 import frc.robot.commands.Climb;
 import frc.robot.commands.LockTurret;
+import frc.robot.commands.Panic;
 import frc.robot.commands.TransferGamePiece;
 import frc.robot.commands.ZeroPitch;
 import frc.robot.subsystems.Climber;
@@ -115,7 +116,9 @@ private void configureOperatorBindings(SN_XboxController controller) {
     controller.btn_A.onTrue(Commands.runOnce(() -> subPitch.setPitchAngle(0)));
 
     controller.btn_LeftBumper.whileTrue(new TransferGamePiece(subTransfer));
-    controller.btn_LeftTrigger.whileTrue(new IntakeGamePiece(subIntake, subTransfer, subTurret));
+    controller.btn_LeftTrigger.whileTrue(new IntakeGamePiece(subIntake, subTransfer, subTurret, subLEDs));
+
+    controller.btn_North.whileTrue(new Panic(subLEDs));
   }
 
   public Command getAutonomousCommand() {

src/main/java/frc/robot/commands/IntakeGamePiece.java

@@ -7,23 +7,26 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.RobotContainer;
 import frc.robot.Constants.LockedLocation;
+import frc.robot.Constants.constLEDs;
 import frc.robot.RobotPreferences.prefIntake;
 import frc.robot.RobotPreferences.prefTransfer;
 import frc.robot.RobotPreferences.prefTurret;
 import frc.robot.subsystems.Intake;
+import frc.robot.subsystems.LEDs;
 import frc.robot.subsystems.Transfer;
 import frc.robot.subsystems.Turret;
 
 public class IntakeGamePiece extends Command {
   Intake subIntake;
   Transfer subTransfer;
   Turret subTurret;
+  LEDs subLEDs;
 
-  public IntakeGamePiece(Intake subIntake, Transfer subTransfer, Turret subTurret) {
+  public IntakeGamePiece(Intake subIntake, Transfer subTransfer, Turret subTurret, LEDs subLEDs) {
     this.subIntake = subIntake;
     this.subTransfer = subTransfer;
     this.subTurret = subTurret;
-
+    this.subLEDs = subLEDs;
     addRequirements(subIntake, subTransfer, subTurret);
   }
 
@@ -32,6 +35,7 @@ public IntakeGamePiece(Intake subIntake, Transfer subTransfer, Turret subTurret)
   public void initialize() {
 
     subTurret.setTurretAngle(prefTurret.turretIntakePos.getValue());
+    subLEDs.clearAnimation();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -53,6 +57,11 @@ public void end(boolean interrupted) {
     subIntake.setNeutralMode();
     subTransfer.setTransferNeutralOutput();
     subTransfer.setFeederNeutralOutput();
+    if (!interrupted) {
+
+      subLEDs.setLEDs(constLEDs.INTAKE_GAME_PIECE_COLLECTED);
+    }
+
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/Panic.java

@@ -0,0 +1,43 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants.constLEDs;
+import frc.robot.subsystems.LEDs;
+
+public class Panic extends Command {
+  LEDs subLEDs;
+
+  public Panic(LEDs subLEDs) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.subLEDs = subLEDs;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    subLEDs.setLEDsToAnimation(constLEDs.PANIC_ANIMATION);
+
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    subLEDs.clearAnimation();
+
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/subsystems/LEDs.java

@@ -45,6 +45,7 @@ public void setLEDsToAnimation(Animation animation) {
 
   public void clearAnimation() {
     CANdle.clearAnimation(0);
+    CANdle.setLEDs(0, 0, 0);
   }
 
   @Override