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simple lights red when we are in endgame #9

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simple lights red when we are in endgame #9

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3c2f0ce
simple lights red when we are in endgame
Oct 21, 2023
4dfa62b
eh
Oct 21, 2023
bea352f
Create AutonLED.java
maxspier Oct 22, 2023
5ce0698
Update Lights.java
maxspier Oct 22, 2023
3d0a4ab
Update OI.java
maxspier Oct 22, 2023
9fc5e50
slight color and syntax fixes for now
1yd1a Oct 22, 2023
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5 changes: 5 additions & 0 deletions src/main/java/com/team766/robot/OI.java
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;


/**
* This class is the glue that binds the controls on the physical operator
* interface to the code that allow control of the robot.
Expand Down Expand Up @@ -66,6 +67,7 @@ public void run(Context context) {
context.takeOwnership(Robot.drive);
// context.takeOwnership(Robot.intake);
context.takeOwnership(Robot.gyro);
context.takeOwnership(Robot.lights);
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we should only grab ownership of lights for the small chunk where needed (below) as other mechanisms will also use Lights.


while (true) {
context.waitFor(() -> RobotProvider.instance.hasNewDriverStationData());
Expand All @@ -87,6 +89,9 @@ public void run(Context context) {
// SmartDashboard.putString("Alliance", "NULLLLLLLLL");
// }

if(DriverStation.isTeleop() && DriverStation.getMatchTime() < 30){
Robot.lights.red();
}

if (leftJoystick.getButtonPressed(InputConstants.RESET_GYRO)) {
Robot.gyro.resetGyro();
Expand Down
2 changes: 2 additions & 0 deletions src/main/java/com/team766/robot/Robot.java
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Expand Up @@ -7,11 +7,13 @@ public class Robot {
// public static Intake intake;
public static Drive drive;
public static Gyro gyro;
public static Lights lights;

public static void robotInit() {
// Initialize mechanisms here
// intake = new Intake();
drive = new Drive();
gyro = new Gyro();
lights = new Lights();
}
}
5 changes: 5 additions & 0 deletions src/main/java/com/team766/robot/mechanisms/Lights.java
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Expand Up @@ -27,4 +27,9 @@ public void yellow(){
checkContextOwnership();
candle.setLEDs(255, 255, 0);
}

public void red(){
checkContextOwnership();
candle.setLEDs(255, 0, 0);
}
}