Merge pull request #44 from bearbotics2358/LED-fix

Fixed the sussy LED code (co written by joseph :3)
bearbotics2358 · Mar 30, 2024 · 1cfa301 · 1cfa301
2 parents 529db7f + 0f04ec2
commit 1cfa301
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Showing 3 changed files with 18 additions and 7 deletions.
diff --git a/src/main/cpp/LED.cpp b/src/main/cpp/LED.cpp
@@ -171,7 +171,7 @@ void LED::SetWhite() {
 
 void LED::SendWhiteMSG() {
 	char cmd[10];
-	strncpy(cmd, "0,0\r\n", 8);
+	strncpy(cmd, "(0,0)\r\n", 8);
 	m_pserial->Write(cmd, strlen(cmd));
 	m_pserial->Flush();
 
@@ -186,7 +186,7 @@ void LED::SetMSGIdle(){
 
 void LED::SendIdleMSG() {
 	char cmd[10];
-	strncpy(cmd, "1,0\r\n", 8);
+	strncpy(cmd, "(1,0)\r\n", 8);
 	m_pserial->Write(cmd, strlen(cmd));
 	m_pserial->Flush();
 
@@ -203,7 +203,7 @@ void LED::SendNoCommsMSG() {
 
 	printf("in SetNoComms\n");
 	char cmd[10];
-	strncpy(cmd, "2,0\r\n", 8);
+	strncpy(cmd, "(2,0)\r\n", 8);
 	printf("about to Write: %s\n", cmd);
 	ret = m_pserial->Write(cmd, strlen(cmd));
 	printf("written: %d characters\n", ret);
@@ -222,7 +222,7 @@ LED_currentCommand = RIO_msgs_enum::NOTE_ON_BOARD;
 
 void LED::SendNoteOnBoardMSG() {
 	char cmd[10];
-	strncpy(cmd, "3,0\r\n", 8);
+	strncpy(cmd, "(3,0)\r\n", 8);
 	m_pserial->Write(cmd, strlen(cmd));
 	m_pserial->Flush();
 
@@ -253,7 +253,7 @@ LED_currentCommand = RIO_msgs_enum::SHOOTER_READY;
 
 void LED::SendShooterReadyMSG() {
 	char cmd[10];
-	strncpy(cmd, "5,0\r\n", 8);
+	strncpy(cmd, "(5,0)\r\n", 8);
 	m_pserial->Write(cmd, strlen(cmd));
 	m_pserial->Flush();
 

diff --git a/src/main/cpp/Robot.cpp b/src/main/cpp/Robot.cpp
@@ -5,6 +5,7 @@
 #include "misc.h"
 #include "Gyro.h"
 #include <frc/smartdashboard/SmartDashboard.h>
+#include <frc/DriverStation.h>
 #include <iostream>
 #include <stdio.h>
 #include <frc/interfaces/Gyro.h>
@@ -93,6 +94,8 @@ void Robot::RobotInit() {
     // a_LED.SetAngleToNote(0.3);
 
     //a_LED.SetTargetType(LED_STAGE_enum::WHITE);
+
+    commsStatus = frc::DriverStation::IsDSAttached();
     //InterpolationValues value = {22.5, 3500};
     a_NoteHandler.insertToInterpolatingMap(2.546859, {22.5, 4000});
     a_NoteHandler.insertToInterpolatingMap(4.212965, {9.5, 4000});
@@ -105,15 +108,19 @@ void Robot::RobotPeriodic() {
     a_NoteHandler.UpdateSensors();
 
 
-     if(a_NoteHandler.beamBroken()){
+
+
+    if(!frc::DriverStation::IsDSAttached()){
+         a_LED.SetNoComms();
+    }
+    else if(a_NoteHandler.beamBroken()){
          a_LED.SetNoteOnBoard();
      } else {
          a_LED.SetMSGIdle();
      }
 
     a_NoteHandler.updateDashboard();
 
-
     // photon::PhotonPipelineResult result = a_camera.GetLatestResult();
     // double Note_Offset = LimelightHelpers::getTX("limelight-notes");
 

diff --git a/src/main/include/Robot.h b/src/main/include/Robot.h
@@ -23,6 +23,7 @@
 #include <frc/apriltag/AprilTagFields.h>
 #include "LED.h"
 #include <Vision.h>
+#include <frc/DriverStation.h>
 
 enum class DriveBackState {
     Inactive,
@@ -103,6 +104,9 @@ class Robot : public frc::TimedRobot {
         LED a_LED;
 
 
+        bool commsStatus;
+
+
 
         double state_time;
         double piston_time;