Merge branch 'main' of https://github.com/team581/frc-2024-crescendo-…

…gamma
team581 · Feb 19, 2024 · d8f906c · d8f906c
2 parents 17e47a0 + c70a428
commit d8f906c
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Showing 2 changed files with 15 additions and 13 deletions.
diff --git a/src/main/java/frc/robot/lights/LightsSubsystem.java b/src/main/java/frc/robot/lights/LightsSubsystem.java
@@ -76,16 +76,13 @@ public void robotPeriodic() {
         case WAITING_SUBWOOFER_SHOT:
         case WAITING_AMP_SHOT:
         case WAITING_FLOOR_SHOT:
-        case INTAKE_TO_CONVEYOR:
-        case INTAKE_TO_QUEUER:
-        case QUEUER_TO_INTAKE_FOR_CONVEYOR:
-        case CONVEYOR_TO_INTAKE_FOR_QUEUER:
           color = Color.kOrange;
           blinkPattern = BlinkPattern.SOLID;
           break;
         case PREPARE_SPEAKER_SHOT:
         case PREPARE_SUBWOOFER_SHOT:
         case PREPARE_FLOOR_SHOT:
+        case PREPARE_AMP_SHOT:
           if (vision.isWorking()) {
             color = Color.kGreen;
             blinkPattern = BlinkPattern.BLINK_SLOW;
@@ -113,22 +110,27 @@ public void robotPeriodic() {
           }
           break;
         case UNHOMED:
-          color = Color.kRed;
-          blinkPattern = BlinkPattern.BLINK_SLOW;
-          break;
         case HOMING:
           color = Color.kRed;
           blinkPattern = BlinkPattern.BLINK_SLOW;
           break;
+        case WAITING_CLIMBER_RAISED:
+          color = Color.kCyan;
+          blinkPattern = BlinkPattern.SOLID;
+          break;
         case PREPARE_CLIMBER_HANGING:
         case PREPARE_CLIMBER_RAISED:
-          color = Color.kYellow;
+          color = Color.kCyan;
           blinkPattern = BlinkPattern.BLINK_SLOW;
           break;
         case CLIMBER_HANGING:
         case CLIMBER_RAISED:
-          color = Color.kYellow;
-          blinkPattern = BlinkPattern.SOLID;
+          color = Color.kCyan;
+          blinkPattern = BlinkPattern.BLINK_FAST;
+          break;
+        case PREPARE_TRAP_OUTTAKE:
+          color = Color.kGreen;
+          blinkPattern = BlinkPattern.BLINK_SLOW;
           break;
         default:
           color = Color.kWhite;

diff --git a/src/main/java/frc/robot/robot_manager/RobotManager.java b/src/main/java/frc/robot/robot_manager/RobotManager.java
@@ -393,7 +393,7 @@ public void robotPeriodic() {
         snaps.setEnabled(true);
         snaps.cancelCurrentCommand();
         break;
-        case SPEAKER_SHOOT:
+      case SPEAKER_SHOOT:
         wrist.setAngle(wristAngleForSpeaker);
         elevator.setGoalHeight(ElevatorPositions.STOWED);
         shooter.setGoalMode(ShooterMode.SPEAKER_SHOT);
@@ -403,8 +403,8 @@ public void robotPeriodic() {
         snaps.setEnabled(true);
         snaps.cancelCurrentCommand();
         break;
-        case WAITING_AMP_SHOT:
-        case PREPARE_AMP_SHOT:
+      case WAITING_AMP_SHOT:
+      case PREPARE_AMP_SHOT:
         wrist.setAngle(WristPositions.STOWED);
         elevator.setGoalHeight(ElevatorPositions.AMP_OUTTAKE);
         shooter.setGoalMode(ShooterMode.IDLE);