Flash aqua on source pickup

frc868 · Mar 22, 2024 · c64038e · c64038e
1 parent c20670a
commit c64038e
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/Controls.java b/src/main/java/frc/robot/Controls.java
@@ -16,6 +16,7 @@
 import frc.robot.subsystems.NoteLift;
 import frc.robot.subsystems.Shooter;
 import frc.robot.subsystems.ShooterTilt;
+import frc.robot.subsystems.LEDs.LEDState;
 
 public class Controls {
     public static void configureDriverControls(int port, Drivetrain drivetrain, Intake intake, Shooter shooter,
@@ -71,7 +72,10 @@ public static void configureDriverControls(int port, Drivetrain drivetrain, Inta
                         .alongWith(shooterTilt.moveToPositionCommand(() -> ShooterTiltPosition.INTAKE).asProxy()))
                 .onFalse(intake.moveToPositionCommand(() -> IntakePosition.STOW));
 
-        joystick.centerTopHatButton().whileTrue(intake.intakeFromSourceCommand())
+        joystick.centerTopHatButton().whileTrue(
+                Commands.parallel(
+                        intake.intakeFromSourceCommand(),
+                        leds.requestStateCommand(LEDState.FLASHING_AQUA)))
                 .onFalse(intake.moveToPositionCommand(() -> IntakePosition.STOW));
 
         joystick.redButton().whileTrue(RobotCommands.ampPrepIntakeCommand(intake, shooterTilt))

diff --git a/src/main/java/frc/robot/subsystems/LEDs.java b/src/main/java/frc/robot/subsystems/LEDs.java
@@ -52,9 +52,10 @@ public enum LEDState {
 
         FLASHING_WHITE(flash(Color.kWhite, 0.5, LEDSection.ALL)),
         SUBWOOFER_ONLY(flash(Color.kYellow, 1, LEDSection.SHOOTER_TOP)),
-        PODIUM_ONLY(flash(Color.kAqua, 1, LEDSection.SHOOTER_TOP)),
+        PODIUM_ONLY(flash(Color.kBlue, 1, LEDSection.SHOOTER_TOP)),
         SOLID_BLUE(solid(Color.kBlue, LEDSection.ALL)),
         SOLID_GREEN(solid(Color.kGreen, LEDSection.ALL)),
+        FLASHING_AQUA(flash(Color.kAqua, 0.5, LEDSection.ALL)),
         PURPLE_WAVE(wave(new Color("#9000DD"), 30, 20, 100, 255,
                 LEDSection.SHOOTER)),
         RAINBOW(rainbow(255, 3, LEDSection.ALL)),