moved leds only where they need to be

Team334 · Apr 1, 2024 · 256c3d0 · 256c3d0
1 parent 2f61072
commit 256c3d0
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Showing 4 changed files with 14 additions and 27 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -92,7 +92,7 @@ public RobotContainer() {
     ));
 
     // revs and intakes if necessary while aiming, then shoots
-    NamedCommands.registerCommand("shoot", new AutonShoot(_shooterSubsystem, _elevatorSubsystem, _ledSubsystem, _swerveSubsystem, _intakeSubsystem));
+    NamedCommands.registerCommand("shoot", new AutonShoot(_shooterSubsystem, _elevatorSubsystem, _swerveSubsystem, _intakeSubsystem));
 
     // stops the shooter
     NamedCommands.registerCommand("stopShooter", new SpinShooter(_shooterSubsystem, ShooterState.NONE, false));
@@ -160,7 +160,9 @@ private void configureBindings() {
     // driver bindings
     _driveController.L1().onTrue(Commands.runOnce(_swerveSubsystem::toggleSpeed, _swerveSubsystem));
     _driveController.R1().onTrue(Commands.runOnce(() -> _swerveSubsystem.fieldOriented = !_swerveSubsystem.fieldOriented, _swerveSubsystem));
-    _driveController.cross().whileTrue(new BrakeSwerve(_swerveSubsystem, _ledSubsystem));
+    _driveController.cross().whileTrue(new BrakeSwerve(_swerveSubsystem)).whileTrue(Commands.run(() -> {
+      _ledSubsystem.blink(LEDColors.RED, LEDColors.NOTHING, 0.2);
+    }, _ledSubsystem));
 
     // TESTING ONLY!!!
     _driveController.triangle().onTrue(Commands.runOnce(() -> _swerveSubsystem.resetGyro(180), _swerveSubsystem));
@@ -187,7 +189,6 @@ private void configureBindings() {
         _swerveSubsystem,
         _shooterSubsystem, 
         _elevatorSubsystem,
-        _ledSubsystem,
         () -> (UtilFuncs.GetAlliance() == Alliance.Red) ? 0 : 180,
         () -> Presets.CLOSE_SHOOTER_ANGLE, 
         () -> Presets.CLOSE_ELEVATOR_HEIGHT
@@ -199,7 +200,6 @@ private void configureBindings() {
         _swerveSubsystem,
         _shooterSubsystem,
         _elevatorSubsystem,
-        _ledSubsystem,
         () -> MathUtil.applyDeadband(-_driveFilterLeftY.calculate(_driveController.getLeftY()), 0.05),
         () -> MathUtil.applyDeadband(-_driveFilterLeftX.calculate(_driveController.getLeftX()), 0.05)
       )

diff --git a/src/main/java/frc/robot/commands/auto/AutoAim.java b/src/main/java/frc/robot/commands/auto/AutoAim.java
@@ -11,7 +11,6 @@
 import frc.robot.commands.shooter.SetShooter;
 import frc.robot.commands.swerve.SetHeading;
 import frc.robot.subsystems.ElevatorSubsystem;
-import frc.robot.subsystems.LEDSubsystem;
 import frc.robot.subsystems.ShooterSubsystem;
 import frc.robot.subsystems.SwerveDriveSubsystem;
 
@@ -42,7 +41,6 @@ private AutoAim(
     SwerveDriveSubsystem swerve,
     ShooterSubsystem shooter,
     ElevatorSubsystem elevator,
-    LEDSubsystem leds,
     DoubleSupplier xSpeed,
     DoubleSupplier ySpeed,
     DoubleSupplier swerveHeading,
@@ -56,7 +54,6 @@ private AutoAim(
       new SetHeading(swerve, xSpeed, ySpeed, swerveHeading, runOnce),
       new SetShooter(shooter, shooterAngle, runOnce),
       new SetElevator(elevator, elevatorHeight, runOnce)
-      // some led command here
     );
   }
 
@@ -69,11 +66,10 @@ public AutoAim(
     SwerveDriveSubsystem swerve,
     ShooterSubsystem shooter,
     ElevatorSubsystem elevator,
-    LEDSubsystem leds,
     DoubleSupplier xSpeed,
     DoubleSupplier ySpeed
   ) {
-    this(swerve, shooter, elevator, leds, xSpeed, ySpeed, swerve::speakerHeading, shooter::speakerAngle, elevator::speakerHeight, false);
+    this(swerve, shooter, elevator, xSpeed, ySpeed, swerve::speakerHeading, shooter::speakerAngle, elevator::speakerHeight, false);
   }
 
   /** 
@@ -85,14 +81,13 @@ public AutoAim(
     SwerveDriveSubsystem swerve,
     ShooterSubsystem shooter,
     ElevatorSubsystem elevator,
-    LEDSubsystem leds,
     DoubleSupplier xSpeed,
     DoubleSupplier ySpeed,
     DoubleSupplier swerveHeading,
     DoubleSupplier shooterAngle,
     DoubleSupplier elevatorHeight
   ) {
-    this(swerve, shooter, elevator, leds, xSpeed, ySpeed, swerveHeading, shooterAngle, elevatorHeight, false);
+    this(swerve, shooter, elevator, xSpeed, ySpeed, swerveHeading, shooterAngle, elevatorHeight, false);
   }
 
   /** 
@@ -103,10 +98,9 @@ public AutoAim(
   public AutoAim(
     SwerveDriveSubsystem swerve,
     ShooterSubsystem shooter,
-    ElevatorSubsystem elevator,
-    LEDSubsystem leds
+    ElevatorSubsystem elevator
   ) {
-    this(swerve, shooter, elevator, leds, () -> 0, () -> 0, swerve::speakerHeading, shooter::speakerAngle, elevator::speakerHeight, true);
+    this(swerve, shooter, elevator, () -> 0, () -> 0, swerve::speakerHeading, shooter::speakerAngle, elevator::speakerHeight, true);
   }
 
   /** 
@@ -118,11 +112,10 @@ public AutoAim(
     SwerveDriveSubsystem swerve,
     ShooterSubsystem shooter,
     ElevatorSubsystem elevator,
-    LEDSubsystem leds,
     DoubleSupplier swerveHeading,
     DoubleSupplier shooterAngle,
     DoubleSupplier elevatorHeight
   ) {
-    this(swerve, shooter, elevator, leds, () -> 0, () -> 0, swerveHeading, shooterAngle, elevatorHeight, true);
+    this(swerve, shooter, elevator, () -> 0, () -> 0, swerveHeading, shooterAngle, elevatorHeight, true);
   }
 }
diff --git a/src/main/java/frc/robot/commands/auto/AutonShoot.java b/src/main/java/frc/robot/commands/auto/AutonShoot.java
@@ -28,7 +28,6 @@ public class AutonShoot extends SequentialCommandGroup {
   public AutonShoot(
     ShooterSubsystem shooter,
     ElevatorSubsystem elevator,
-    LEDSubsystem leds,
     SwerveDriveSubsystem swerve,
     IntakeSubsystem intake
   ) {
@@ -39,7 +38,7 @@ public AutonShoot(
       new ParallelCommandGroup(
         new SpinShooter(shooter, ShooterState.SHOOT, true).andThen(new WaitUntilCommand(shooter::isRevved)),
         new FeedActuate(intake, FeedMode.INTAKE).withTimeout(0.5).onlyIf(() -> !intake.hasNoteAuton()),
-        new AutoAim(swerve, shooter, elevator, leds)
+        new AutoAim(swerve, shooter, elevator)
       ),
 
       new FeedActuate(intake, FeedMode.OUTTAKE).withTimeout(0.5)

diff --git a/src/main/java/frc/robot/commands/swerve/BrakeSwerve.java b/src/main/java/frc/robot/commands/swerve/BrakeSwerve.java
@@ -5,8 +5,6 @@
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.Constants;
-import frc.robot.subsystems.LEDSubsystem;
 import frc.robot.subsystems.SwerveDriveSubsystem;
 
 /**
@@ -17,17 +15,15 @@
  */
 public class BrakeSwerve extends Command {
   private final SwerveDriveSubsystem _swerveDrive;
-  private final LEDSubsystem _leds;
 
   private double _timeout = 0;
   private Timer _timer = new Timer();
 
   /** Creates a new BrakeSwerve. */
-  public BrakeSwerve(SwerveDriveSubsystem swerveDrive, LEDSubsystem leds) {
+  public BrakeSwerve(SwerveDriveSubsystem swerveDrive) {
     _swerveDrive = swerveDrive;
-    _leds = leds;
 
-    addRequirements(_swerveDrive, _leds);
+    addRequirements(_swerveDrive);
   }
 
   /**
@@ -37,8 +33,8 @@ public BrakeSwerve(SwerveDriveSubsystem swerveDrive, LEDSubsystem leds) {
    *            - (in seconds) Will keep the drive in brake position for this
    *            amount of time (must be >0).
    */
-  public BrakeSwerve(SwerveDriveSubsystem swerveDrive, LEDSubsystem leds, double timeout) {
-    this(swerveDrive, leds);
+  public BrakeSwerve(SwerveDriveSubsystem swerveDrive, double timeout) {
+    this(swerveDrive);
 
     _timeout = timeout;
   }
@@ -58,7 +54,6 @@ public void execute() {
         new SwerveModuleState(0, Rotation2d.fromDegrees(-45))};
 
     _swerveDrive.setStates(states);
-    _leds.blink(Constants.LEDColors.RED, Constants.LEDColors.NOTHING, 0.2);
   }
 
   // Called once the command ends or is interrupted.