Leds

src/main/java/frc/robot/RobotContainer.java

@@ -12,6 +12,7 @@
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.Robot.RobotRunType;
+import frc.robot.subsystems.LEDs;
 import frc.robot.subsystems.ballMechanism.ballMechanism;
 import frc.robot.subsystems.ballMechanism.ballMechanismIO;
 import frc.robot.subsystems.ballMechanism.ballMechanismReal;
@@ -31,13 +32,15 @@
 public class RobotContainer {
     /* Controllers */
     private final CommandXboxController driver = new CommandXboxController(Constants.driverID);
+
     // Initialize AutoChooser Sendable
     private final SendableChooser<String> autoChooser = new SendableChooser<>();
 
     /* Subsystems */
     private Drivetrain drivetrain;
     private Hatch hatch;
     private ballMechanism intake;
+    private LEDs leds;
 
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -98,8 +101,10 @@ private void configureButtonBindings() {
             driver.getHID().setRumble(RumbleType.kBothRumble, 0);
         })));
         driver.b().whileTrue(hatch.setHatchNeutral());
-        driver.leftTrigger().whileTrue(intake.intakeCommand(Color.kPurple, Color.kWhiteSmoke));
-        driver.rightTrigger().whileTrue(intake.outtakeCommand());
+        driver.leftTrigger().whileTrue(
+            intake.intakeCommand().andThen(leds.flashCommand(Color.kPurple, Color.kWhite)));
+        driver.rightTrigger().whileTrue(
+            intake.outtakeCommand().andThen(leds.flashCommand(Color.kBrown, Color.kPink)));
     }
 
     /**

src/main/java/frc/robot/subsystems/LEDs.java

@@ -2,6 +2,7 @@
 
 import edu.wpi.first.wpilibj.AddressableLED;
 import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
@@ -111,25 +112,20 @@ public Color getColor(int index) {
     }
 
     public Command flashCommand(Color color, Color altColor) {
-        int flashingDelay = 0;
-        return Commands.runEnd(null, null, null)
-    }
-
-    private int flashingDelay = 0;
-
-
-    public void flash(Color color, Color altColor) {
-        if (flashingDelay < 10) {
-            for (var i = 0; i < getLength(); i++) {
-                setColor(i, color);
-            }
-        } else {
-            for (var i = 0; i < getLength(); i++) {
-                setColor(i, altColor);
+        return Commands.run(() -> alterNateFlash(color, altColor), this);
+
+    public void alterNateFlash(Color color, Color altColor) {
+        Timer timer = new Timer();
+        timer.start();
+        for (int i = 0; i < 3; i++) {
+            if (i % 2 == 0) {
+                setColor(color);
+                timer.advanceIfElapsed(.25);
+            } else {
+                setColor(altColor);
+                timer.advanceIfElapsed(.25);
             }
+
         }
-        setData();
-        flashingDelay++;
-        flashingDelay %= 20;
     }
 }

src/main/java/frc/robot/subsystems/ballMechanism/ballMechanism.java

@@ -1,16 +1,13 @@
 package frc.robot.subsystems.ballMechanism;
 
 import org.littletonrobotics.junction.Logger;
-import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.subsystems.LEDs;
 
 public class ballMechanism extends SubsystemBase {
     ballMechanismIO io;
     ballMechanismInputsAutoLogged intakeAutoLogged = new ballMechanismInputsAutoLogged();
-    LEDs lights = new LEDs(9, 100);
 
     public ballMechanism(ballMechanismIO io) {
         this.io = io;
@@ -36,13 +33,14 @@ public boolean getOuttakeBeamBrakeStatus() {
         return intakeAutoLogged.outtakeBeamBrake;
     }
 
-    public Command intakeCommand(Color color, Color altColor) {
+    public Command intakeCommand() {
         return Commands.startEnd(() -> {
             setBallMotor(1);
         }, () -> {
             setBallMotor(0);
-        }, this).until(() -> getIntakeBeamBreakStatus()).unless(() -> getIntakeBeamBreakStatus())
-            .andThen(() -> lights.flash(color, altColor)).andThen();
+        }, this).until(() -> getIntakeBeamBreakStatus()).unless(() -> getIntakeBeamBreakStatus());
+
+
 
     }