changed LED states to be in intake and shooter subsystems

CurtinFRC · Jun 23, 2024 · f6c5cc0 · f6c5cc0
1 parent d776edb
commit f6c5cc0
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Showing 3 changed files with 13 additions and 10 deletions.
diff --git a/src/main/java/frc/robot/subsystems/Arm.java b/src/main/java/frc/robot/subsystems/Arm.java
@@ -18,7 +18,6 @@
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.Constants;
 import java.util.function.DoubleSupplier;
-import edu.wpi.first.wpilibj.PWM;
 
 /** Our Arm Subsystem */
 public class Arm extends SubsystemBase {
@@ -43,8 +42,6 @@ public enum Setpoint {
   private DoubleLogEntry log_ff_output = new DoubleLogEntry(m_log, "/arm/ff/output");
   private StringLogEntry log_setpoint = new StringLogEntry(m_log, "/arm/setpoint");
 
-  PWM lEDPwm = new PWM(0);
-
   /**
    * Creates a new {@link Arm} {@link edu.wpi.first.wpilibj2.command.Subsystem}.
    *
@@ -132,22 +129,18 @@ public Command goToSetpoint(Setpoint setpoint) {
     switch (setpoint) {
       case kAmp:
         position = 5.34;
-        lEDPwm.setSpeed(0.67);
         break;
 
-      case kSpeaker:
+      case kIntake:
         position = 3.7;
-        lEDPwm.setSpeed(0.73);
         break;
 
-      case kIntake:
+      case kSpeaker:
         position = 3.7;
-        lEDPwm.setSpeed(0.57);
         break;
 
       case kStowed:
         position = 3.7;
-        lEDPwm.setSpeed(0.99);
         break;
     }
 

diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
@@ -11,17 +11,21 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj.PWM;
 
 public class Intake extends SubsystemBase {
   private CANSparkMax m_motor;
   private DataLog log = DataLogManager.getLog();
   private DoubleLogEntry log_output = new DoubleLogEntry(log, "/intake/output");
 
+  PWM lEDPwm = new PWM(0);
+
   public Intake(CANSparkMax motor) {
     m_motor = motor;
   }
 
   public Command intake() {
+    lEDPwm.setSpeed(0.59); // dark red //
     return Commands.run(
             () -> {
               log_output.append(4);
@@ -36,6 +40,7 @@ public Command stop() {
   }
 
   public Command outake() {
+    lEDPwm.setSpeed(0.63); // red orange, 0.65 for normal orange //
     return Commands.run(
             () -> {
               log_output.append(-4);

diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -16,6 +16,7 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.Constants;
+import edu.wpi.first.wpilibj.PWM;
 
 /** Our Crescendo shooter Subsystem */
 public class Shooter extends SubsystemBase {
@@ -24,7 +25,8 @@ public class Shooter extends SubsystemBase {
   private RelativeEncoder m_encoder;
   private DataLog m_log = DataLogManager.getLog();
   private DoubleLogEntry log_pid_output = new DoubleLogEntry(m_log, "/shooter/pid/output");
-
+
+  PWM lEDPwm = new PWM(0);
   /**
    * Creates a new {@link Shooter} {@link edu.wpi.first.wpilibj2.command.Subsystem}.
    *
@@ -57,10 +59,12 @@ private Command achieveSpeeds(double speed) {
    * @return a {@link Command} to get to the desired speed.
    */
   public Command spinup(double speed) {
+    lEDPwm.setSpeed(0.69); // yellow //
     return achieveSpeeds(speed).until(m_pid::atSetpoint);
   }
 
   public Command stop() {
+    lEDPwm.setSpeed(0.73); // lime //
     return runOnce(() -> m_motor.set(0));
   }
 
@@ -70,6 +74,7 @@ public Command stop() {
    * @return A {@link Command} to hold the speed at the setpoint.
    */
   public Command maintain() {
+    lEDPwm.setSpeed(0.57); // hot pink //
     return achieveSpeeds(m_pid.getSetpoint());
   }