minor changes to blinkin and rumble

frc5431 · Jan 10, 2024 · 63e52c1 · democat3457 · Jan 10, 2024 · 63e52c1
1 parent 9f0e308
commit 63e52c1
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Showing 2 changed files with 19 additions and 2 deletions.
diff --git a/src/main/java/frc/team5431/titan/core/joysticks/CommandXboxController.java b/src/main/java/frc/team5431/titan/core/joysticks/CommandXboxController.java
@@ -40,8 +40,8 @@ public void setDeadzone(double value) {
      *
      * @param value The normalized value for rumble intensity
      */
-    public void rumble(double value) {
-        m_hid.setRumble(GenericHID.RumbleType.kBothRumble, value);
+    public void rumble(double intensity) {
+        m_hid.setRumble(GenericHID.RumbleType.kBothRumble, intensity);
     }
 
     /**

diff --git a/src/main/java/frc/team5431/titan/core/leds/Blinkin.java b/src/main/java/frc/team5431/titan/core/leds/Blinkin.java
@@ -1,5 +1,7 @@
 package frc.team5431.titan.core.leds;
 
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
@@ -28,6 +30,21 @@ public void set(double value) {
         spark.set(value);
     }
 
+    /**
+     * Sets blinkin lights to current team color in Teleop
+     */
+    public void setTeamColor() {
+        var robotTeam = DriverStation.getAlliance();
+        if (DriverStation.isTeleop()) {
+            if (robotTeam.get() == Alliance.Red) {
+                set(BlinkinPattern.RED);
+            }
+            if (robotTeam.get() == Alliance.Blue) {
+                set(BlinkinPattern.BLUE);
+            }
+        }
+    }
+
     public void set(BlinkinPattern pattern) {
         currentPattern = pattern;
         spark.set(pattern.getSpark());