led fixed

hammerhead226 · Jul 9, 2024 · 4b93dd0 · 4b93dd0
1 parent b1b6e32
commit 4b93dd0
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Showing 4 changed files with 47 additions and 9 deletions.
diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
@@ -5,12 +5,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2024RobotCode";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 283;
-  public static final String GIT_SHA = "1bbe432c459d5a47ba7632f4ecd21b430021a73d";
-  public static final String GIT_DATE = "2024-07-08 19:55:42 EDT";
+  public static final int GIT_REVISION = 284;
+  public static final String GIT_SHA = "b1b6e3205d31d1312f8405f3bbea5539a3c4c823";
+  public static final String GIT_DATE = "2024-07-08 23:36:46 EDT";
   public static final String GIT_BRANCH = "vision-subsytem";
-  public static final String BUILD_DATE = "2024-07-08 20:00:53 EDT";
-  public static final long BUILD_UNIX_TIME = 1720483253403L;
+  public static final String BUILD_DATE = "2024-07-09 12:42:08 EDT";
+  public static final long BUILD_UNIX_TIME = 1720543328895L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -38,7 +38,7 @@ public static Mode getMode() {
     };
   }
 
-  public static final Mode currentMode = Mode.REAL;
+  public static final Mode currentMode = Mode.SIM;
   public static final boolean tuningMode = true;
   public static final String CANBUS = "CAN Bus 2";
   public static final double LOOP_PERIOD_SECS = 0.02;

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -79,6 +79,7 @@
 import frc.robot.subsystems.led.LED;
 import frc.robot.subsystems.led.LED_IO;
 import frc.robot.subsystems.led.LED_IOCANdle;
+import frc.robot.subsystems.led.LED_IOSim;
 import frc.robot.subsystems.pivot.Pivot;
 import frc.robot.subsystems.pivot.PivotIO;
 import frc.robot.subsystems.pivot.PivotIOSim;
@@ -223,7 +224,7 @@ public RobotContainer() {
                 new LeafBlowerIO() {});
         elevator = new Elevator(new ElevatorIOSim());
         pivot = new Pivot(new PivotIOSim());
-        led = new LED(new LED_IO() {});
+        led = new LED(new LED_IOSim());
         break;
 
       default:
@@ -725,7 +726,7 @@ private void driverControls() {
                 () -> -driveController.getLeftX(),
                 () -> -driveController.getRightX(),
                 () -> false,
-                () -> false)));
+                manipLeftBumper)));
 
     driveRightBumper.onFalse(
         new InstantCommand(() -> led.setState(LED_STATE.BLUE))
@@ -766,7 +767,7 @@ private void driverControls() {
                 () -> -driveController.getLeftY(),
                 () -> -driveController.getLeftX(),
                 () -> -driveController.getRightX(),
-                driveLeftBumper,
+                () -> true,
                 manipLeftBumper)));
     driveLeftBumper.onFalse(
         new InstantCommand(() -> led.setState(LED_STATE.BLUE))

diff --git a/src/main/java/frc/robot/subsystems/LED/LED_IOSim.java b/src/main/java/frc/robot/subsystems/LED/LED_IOSim.java
@@ -0,0 +1,37 @@
+package frc.robot.subsystems.led;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import frc.robot.Constants;
+import frc.robot.Constants.LED_STATE;
+
+public class LED_IOSim implements LED_IO {
+  LED_STATE ledState;
+
+  public LED_IOSim() {
+    ledState = Constants.LED_STATE.BLUE;
+    setLEDState(ledState);
+  }
+
+  @Override
+  public void updateInputs(LED_IOInputs inputs) {
+    inputs.ledState = ledState;
+  }
+
+  @Override
+  public void noBumpersPressed() {
+    if (DriverStation.getAlliance().get() == Alliance.Blue) {
+      setLEDState(LED_STATE.BLUE);
+      // led.set(Constants.LEDConstants.COLOR_BLUE);
+
+    } else {
+      setLEDState(LED_STATE.RED);
+      // led.set(Constants.LEDConstants.COLOR_RED);
+    }
+  }
+
+  @Override
+  public void setLEDState(LED_STATE state) {
+    ledState = state;
+  }
+}