correct button (bumper)

team5115 · Nov 13, 2024 · ec3970d · ec3970d
1 parent fea1f3b
commit ec3970d
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Showing 2 changed files with 63 additions and 60 deletions.
diff --git a/src/main/java/frc/team5115/RobotContainer.java b/src/main/java/frc/team5115/RobotContainer.java
@@ -232,7 +232,7 @@ public void robotPeriodic() {
             noteDetectedEntry.setBoolean(feeder.noteDetected());
         }
         //
-        boolean aligning = joyDrive.getHID().getRawButton(XboxController.Button.kB.value);
+        boolean aligning = joyManip.getHID().getRightBumperPressed();
         boolean inRange = false; // ?
         if(lights != null){
             lights.update(aligning, inRange);

diff --git a/src/main/java/frc/team5115/subsystems/lights/Lights.java b/src/main/java/frc/team5115/subsystems/lights/Lights.java
@@ -44,36 +44,47 @@ public void start(){
     public void stop(){
         leds.stop();
     }
-
-    public void update(boolean aligning, boolean inRange) {
-        AnimationState state = AnimationState.Idle;
 
-        if (inRange) {
-            state = AnimationState.InRange;
-        } else if (aligning) {
-            state = AnimationState.Aligning;
-        } else if (!reflectiveSensor.get()) {
-            state = AnimationState.ControllingNote;
+     public void iterateAllLeds(Function<Integer, Integer[]> function){
+        for(int i = 0; i <ledCount; i++){
+            Integer[] color = function.apply(i);
+            buffer.setRGB(i, color[0], color[1], color[2]);
         }
+        leds.setData(buffer);
+    }
 
-        switch (state) {
-            case ControllingNote:
-                setUniformColor(0, 150, 0);
-                break;
-            case Aligning:
-                updateAlignAnimation();
-                break;
-            case InRange:
-                timer_align = 0;
-                position_align = 0;
-                setUniformColor(0xA5, 0x10, 0x90);
-                break;
-            case Idle:
-            default:
-                updateIdleAnimation();
-                break;
+    public void setUniformColor(int r, int g, int b){
+        iterateAllLeds((index) -> {
+            return new Integer[] {r, g, b};
+        });
+    }
+
+    public void updateIdleAnimation() {
+        timer_idle ++;
+        if (timer_idle >= period) {
+            timer_idle = 0;
+        } else {
+            return;
+        }
+
+        counter_idle += direction_idle;
+        if (counter_idle == ledCount || counter_idle == -1) {
+            direction_idle = -direction_idle;
+            counter_idle += 2 * direction_idle;
         }
+        iterateAllLeds((index) -> {
+            double percent = buffer.getLED(index).red - minPower / 1d / maxPower - decay;
+            percent = Math.max(percent, 0);
+
+            if (index == counter_idle) {
+                percent = 1.0;
+            }
+
+            final double power = (percent * (maxPower - minPower)) + minPower;
+            return new Integer[] { (int)power, 0, 0 };
+        });
     }
+
     private void updateAlignAnimation() {
         timer_align ++;
         if (timer_align >= period) {
@@ -100,43 +111,35 @@ private void updateAlignAnimation() {
             }
         }); 
     }
+
+    public void update(boolean aligning, boolean inRange) {
+        AnimationState state = AnimationState.Idle;
 
-    public void updateIdleAnimation() {
-        timer_idle ++;
-        if (timer_idle >= period) {
-            timer_idle = 0;
-        } else {
-            return;
-        }
-
-        counter_idle += direction_idle;
-        if (counter_idle == ledCount || counter_idle == -1) {
-            direction_idle = -direction_idle;
-            counter_idle += 2 * direction_idle;
+        if (inRange) {
+            state = AnimationState.InRange;
+        } else if (aligning) {
+            state = AnimationState.Aligning;
+        } else if (!reflectiveSensor.get()) {
+            state = AnimationState.ControllingNote;
         }
-        iterateAllLeds((index) -> {
-            double percent = buffer.getLED(index).red - minPower / 1d / maxPower - decay;
-            percent = Math.max(percent, 0);
 
-            if (index == counter_idle) {
-                percent = 1.0;
-            }
-
-            final double power = (percent * (maxPower - minPower)) + minPower;
-            return new Integer[] { (int)power, 0, 0 };
-        });
-    }
-    public void setUniformColor(int r, int g, int b){
-        iterateAllLeds((index) -> {
-            return new Integer[] {r, g, b};
-        });
-    }
-    public void iterateAllLeds(Function<Integer, Integer[]> function){
-        for(int i = 0; i <ledCount; i++){
-            Integer[] color = function.apply(i);
-            buffer.setRGB(i, color[0], color[1], color[2]);
+        switch (state) {
+            case ControllingNote:
+                setUniformColor(0, 150, 0);
+                break;
+            case Aligning:
+                updateAlignAnimation();
+                break;
+            case InRange:
+                timer_align = 0;
+                position_align = 0;
+                setUniformColor(0xA5, 0x10, 0x90);
+                break;
+            case Idle:
+            default:
+                updateIdleAnimation();
+                break;
         }
-        leds.setData(buffer);
     }
-    
+
 }