diff --git a/src/main/java/frc/robot/Controls.java b/src/main/java/frc/robot/Controls.java index 063d98e..98e8ca4 100644 --- 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 index 0d86d75..d91f826 100644 --- 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)),