running instead of runOnceing

blair-robot-project · Mar 6, 2025 · de4e51a · de4e51a
1 parent 1769ead
commit de4e51a
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Showing 4 changed files with 13 additions and 7 deletions.
diff --git a/src/main/kotlin/frc/team449/ControllerBindings.kt b/src/main/kotlin/frc/team449/ControllerBindings.kt
@@ -200,7 +200,9 @@ class ControllerBindings(
 
   private fun score_l4() {
     driveController.y().onTrue(
-      robot.superstructureManager.requestGoal(SuperstructureGoal.L4)
+      robot.superstructureManager.requestGoal(SuperstructureGoal.L4).andThen(
+        robot.light.rainbow()
+      )
     )
   }
 

diff --git a/src/main/kotlin/frc/team449/RobotLoop.kt b/src/main/kotlin/frc/team449/RobotLoop.kt
@@ -110,7 +110,7 @@ class RobotLoop : TimedRobot() {
       robot.wrist.startupZero()
     }
 
-    robot.light.defaultCommand = robot.light.progressMask({ robot.elevator.positionSupplier.get() })
+//    robot.light.defaultCommand = robot.light.progressMask({ robot.elevator.positionSupplier.get() })
   }
 
   override fun driverStationConnected() {

diff --git a/src/main/kotlin/frc/team449/subsystems/light/Light.kt b/src/main/kotlin/frc/team449/subsystems/light/Light.kt
@@ -34,9 +34,12 @@ class Light(
   }
 
   fun rainbow(): Command {
-    return this.runOnce {
+    return this.run {
       val rainbow: LEDPattern = LEDPattern.rainbow(255, 128)
-      val scrollingRainbow = rainbow.scrollAtAbsoluteSpeed(MetersPerSecond.of(1.0), ledSpacing)
+      val scrollingRainbow = rainbow.scrollAtAbsoluteSpeed(
+        MetersPerSecond.of(LightConstants.LED_TRANSLATION_SPEED),
+        ledSpacing
+      )
 
       scrollingRainbow.applyTo(lightBuffer)
 
@@ -45,7 +48,7 @@ class Light(
   }
 
   fun solidColor(color: Color): Command {
-    return this.runOnce {
+    return this.run {
       val colorSolid: LEDPattern = LEDPattern.solid(color)
 
       colorSolid.applyTo(lightBuffer)
@@ -55,7 +58,7 @@ class Light(
   }
 
   fun gradient(continuous: Boolean = true, speedMetersPerSecond: Double, vararg colors: Color): Command {
-    return this.runOnce {
+    return this.run {
       // continuous is optimal for scrolling, discontinuous for static
       val continuousness: GradientType = if (continuous) GradientType.kContinuous else GradientType.kDiscontinuous
       val gradient: LEDPattern = LEDPattern.gradient(continuousness, *colors)
@@ -68,7 +71,7 @@ class Light(
   }
 
   fun progressMask(maskValue: DoubleSupplier): Command {
-    return this.runOnce {
+    return this.run {
       val base: LEDPattern = LEDPattern.gradient(GradientType.kDiscontinuous, Color.kRed, Color.kGreen)
       val maskAmount: LEDPattern = LEDPattern.progressMaskLayer(maskValue)
       val heightDisplay: LEDPattern = base.mask(maskAmount)

diff --git a/src/main/kotlin/frc/team449/subsystems/light/LightConstants.kt b/src/main/kotlin/frc/team449/subsystems/light/LightConstants.kt
@@ -12,4 +12,5 @@ object LightConstants {
   // number of LEDs per meter (for WPILib calc)
   // todo(buscalo este numero)
   const val LED_PER_METER: Int = 120
+  const val LED_TRANSLATION_SPEED: Double = 0.5 // m/s
 }