From 54a237993d4429f4a8bd34bd80ab9323b4dc93a6 Mon Sep 17 00:00:00 2001
From: Emily Zhai <ruixuanzhai@microsoft.com>
Date: Fri, 5 Apr 2024 08:27:01 -0700
Subject: [PATCH] change function light calls to detect whether there is a note
 in the collector

---
 .../java/competition/subsystems/lights/LightSubsystem.java    | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/competition/subsystems/lights/LightSubsystem.java b/src/main/java/competition/subsystems/lights/LightSubsystem.java
index 095767bd..28202983 100644
--- a/src/main/java/competition/subsystems/lights/LightSubsystem.java
+++ b/src/main/java/competition/subsystems/lights/LightSubsystem.java
@@ -113,10 +113,10 @@ public LightsStateMessage getCurrentState() {
             // 0 as no camera working, 1 as all camera working, 2 as some camera working
             currentState = LightsStateMessage.getStringValueFromInt(base + vision.cameraWorkingState());
         } else {
-            if (shooter.isReadyToFire() && collector.checkSensorForLights()) {
+            if (shooter.isReadyToFire() && collector.confidentlyHasControlOfNote()) {
                 currentState = LightsStateMessage.ReadyToShoot;
 
-            } else if (collector.checkSensorForLights()) {
+            } else if (collector.confidentlyHasControlOfNote()) {
                 currentState = LightsStateMessage.RobotContainsNote;
 
             } else if (shooter.isReadyToFire()) {