Check for note when using LED, slowed down rainbow LED

SaintsRobotics · Mar 19, 2024 · a0d6586 · a0d6586
1 parent a8dc6f6
commit a0d6586
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/commands/DefaultLEDCommand.java b/src/main/java/frc/robot/commands/DefaultLEDCommand.java
@@ -38,9 +38,9 @@ public void initialize() {
     armSetpoint = m_intakeSubsystem.getArmPosition();
     if (armSetpoint == IntakeConstants.kIntakeLoweredAngle) {
       rgb[0] = 255;
-      rgb[1] = 165;
+      rgb[1] = 0;
       rgb[2] = 0;
-    } else if (armSetpoint == IntakeConstants.kIntakeRaisedAngle) {
+    } else if (armSetpoint == IntakeConstants.kIntakeRaisedAngle && m_intakeSubsystem.haveNote()) {
       rgb[0] = 0;
       rgb[1] = 0;
       rgb[2] = 255;

diff --git a/src/main/java/frc/robot/subsystems/LEDSubsystem.java b/src/main/java/frc/robot/subsystems/LEDSubsystem.java
@@ -14,6 +14,7 @@
 public class LEDSubsystem extends SubsystemBase {
   private final AddressableLED m_LED = new AddressableLED(LEDConstants.kLEDPort);
   private final AddressableLEDBuffer m_LEDBuffer = new AddressableLEDBuffer(LEDConstants.kLEDLength);
+  private int m_rainbowFirstPixelHue = 0;
 
   /** Creates a new {@link LEDSubsystem}. */
   public LEDSubsystem() {
@@ -50,7 +51,6 @@ public void setLED(int r, int g, int b) {
   }
 
   private void rainbow() {
-    int m_rainbowFirstPixelHue = 0;
     // For every pixel
     for (var i = 0; i < m_LEDBuffer.getLength(); i++) {
       // Calculate the hue - hue is easier for rainbows because the color
@@ -60,7 +60,7 @@ private void rainbow() {
       m_LEDBuffer.setHSV(i, hue, 255, 128);
     }
     // Increase by to make the rainbow "move"
-    m_rainbowFirstPixelHue += 3;
+    m_rainbowFirstPixelHue += 1;
     // Check bounds
     m_rainbowFirstPixelHue %= 180;