diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index c2bdb96..c352bc2 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -88,13 +88,13 @@ public class RobotContainer { .whenReleased(() -> m_robotIntake.runExtender(false)); // activates "Lit Mode" - // new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) - // .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) - // .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); + new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) + .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) + .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON) - .whenPressed(() -> m_robotSerializer.setSerializerState(true)) - .whenReleased(() -> m_robotSerializer.setSerializerState(false)); + .whenPressed(() -> m_robotSerializer.setSerializerStateWithBeam(true, m_robotSerializer.getBeam())) + .whenReleased(() -> m_robotSerializer.setSerializerStateWithBeam(false, m_robotSerializer.getBeam())); } /** diff --git a/src/main/java/frc4388/robot/subsystems/Serializer.java b/src/main/java/frc4388/robot/subsystems/Serializer.java index 2d76887..e9ec997 100644 --- a/src/main/java/frc4388/robot/subsystems/Serializer.java +++ b/src/main/java/frc4388/robot/subsystems/Serializer.java @@ -15,7 +15,7 @@ public class Serializer extends SubsystemBase{ public Serializer(CANSparkMax serializerBelt, CANSparkMax serializerShooterBelt) { m_serializerBelt = serializerBelt; m_serializerShooterBelt = serializerShooterBelt; - //m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM); + m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM); serializerState = false; setSerializerState(serializerState); @@ -24,8 +24,7 @@ public class Serializer extends SubsystemBase{ } public boolean getBeam() { - System.out.println("oi"); - return false; + return m_serializerBeam.get(); } public void setSerializerStateWithBeam(boolean ctrlbutter, boolean beambroken) { boolean total = ctrlbutter || beambroken;