Mira goofy test

src/main/java/frc4388/robot/RobotContainer.java

@@ -42,6 +42,7 @@ import frc4388.robot.subsystems.swerve.SwerveDrive;
 import frc4388.robot.subsystems.vision.Vision;
 import frc4388.utility.DeferredBlock;
 import frc4388.utility.compute.TimesNegativeOne;
+import frc4388.utility.configurable.ConfigurableString;
 import frc4388.utility.controller.DeadbandedXboxController;
 // Autos
 import frc4388.utility.controller.VirtualController;
@@ -62,6 +63,8 @@ public class RobotContainer {
     
     /* Subsystems */
     public final LED m_robotLED = new LED();
+    //Testing of Colors
+    
     public final Vision m_vision = new Vision(m_robotMap.rightCamera, m_robotMap.leftCamera);
     public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
     private Boolean operatorManualMode = false;
@@ -90,7 +93,12 @@ public class RobotContainer {
     private Command autoCommand;
 
     private Command RobotShoot = new SequentialCommandGroup(
-        new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.PARTY_TWINKLES), m_robotLED)
+        new InstantCommand(() -> System.out.println(m_robotLED.getMode())),
+        new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.PARTY_TWINKLES), m_robotLED),
+        new InstantCommand(() -> System.out.println(m_robotLED.getMode())),
+        new WaitCommand(5),
+        new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.SOLID_RED), m_robotLED),
+        new InstantCommand(() -> System.out.println(m_robotLED.getMode()))
     );
 
     public RobotContainer() {

src/main/java/frc4388/robot/constants/BuildConstants.java

@@ -7,13 +7,13 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 23;
+  public static final int GIT_REVISION = 24;
-  public static final String GIT_SHA = "8bda61b9837d7450a2fb4650bf02ffb1f4f06213";
+  public static final String GIT_SHA = "5d381731689602f5fac161f1552170003ef30c14";
-  public static final String GIT_DATE = "2026-01-29 16:59:53 MST";
+  public static final String GIT_DATE = "2026-01-29 18:07:19 MST";
   public static final String GIT_BRANCH = "Subsystem-Boilerplate";
-  public static final String BUILD_DATE = "2026-01-29 17:04:31 MST";
+  public static final String BUILD_DATE = "2026-01-29 19:27:45 MST";
-  public static final long BUILD_UNIX_TIME = 1769731471423L;
+  public static final long BUILD_UNIX_TIME = 1769740065495L;
-  public static final int DIRTY = 0;
+  public static final int DIRTY = 1;
 
   private BuildConstants(){}
 }

src/main/java/frc4388/robot/constants/Constants.java

@@ -7,8 +7,6 @@
 
 package frc4388.robot.constants;
 
-import com.ctre.phoenix6.configs.Slot0Configs;
-
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.apriltag.AprilTagFields;
 import edu.wpi.first.math.Matrix;
@@ -21,7 +19,6 @@ import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.RobotBase;
 import frc4388.utility.compute.Trim;
-import frc4388.utility.status.CanDevice;
 import frc4388.utility.structs.Gains;
 import frc4388.utility.structs.LEDPatterns;
 
@@ -92,6 +89,7 @@ public final class Constants {
         public static final Matrix<N3, N1> kMultiTagStdDevs = VecBuilder.fill(0.1, 0.1, 1);
     }
    
+
     public static final class LEDConstants {
         public static final int LED_SPARK_ID = 9;
 

src/main/java/frc4388/robot/subsystems/LED.java

@@ -30,11 +30,15 @@ public class LED extends SubsystemBase implements Queryable {
 
   private static Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
   private LEDPatterns mode = LEDConstants.DEFAULT_PATTERN;
-//hello
+
   public void setMode(LEDPatterns pattern){
     this.mode = pattern;
   }
 
+  public String getMode(){
+    return mode.name();
+  }
+
   @Override
   public void periodic() {
     update();

src/main/java/frc4388/robot/subsystems/vision/Vision.java

@@ -2,15 +2,11 @@ package frc4388.robot.subsystems.vision;
 
 import java.util.ArrayList;
 import java.util.List;
-import java.util.Optional;
 
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
 
 import com.ctre.phoenix6.Utils;
-import com.ctre.phoenix6.hardware.CANcoder;
-import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.swerve.SwerveDrivetrain;
 
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -18,20 +14,22 @@ import frc4388.robot.subsystems.vision.VisionIO.PoseObservation;
 import frc4388.utility.status.FaultReporter;
 import frc4388.utility.status.Queryable;
 import frc4388.utility.status.Status;
+import frc4388.utility.structs.LEDPatterns;
 
-public class Vision extends SubsystemBase implements Queryable {
+public class Vision extends SubsystemBase implements Queryable{
     VisionIO[] io;
     VisionStateAutoLogged[] state;
 
     
     public Pose2d lastVisionPose = new Pose2d();
     public Pose2d lastPhysOdomPose = new Pose2d();
+    public LED m_robotLED;
 
     public Vision(VisionIO... devices) {
         FaultReporter.register(this);
         io = devices;
         state = new VisionStateAutoLogged[io.length];
-
+        m_robotLED = new LED();
         for(int i = 0; i < io.length; i++) {
             state[i] = new VisionStateAutoLogged();
         }
@@ -44,6 +42,10 @@ public class Vision extends SubsystemBase implements Queryable {
             Logger.processInputs("Vision/Camera" + i , state[i]);
         }
         Logger.recordOutput("Vision/isTagDectected", isTag());
+        
+        if (isTag()){
+            m_robotLED.setMode(LEDPatterns.SOLID_GREEN_DARK);
+        }
     }
 
     public List<PoseObservation> getPosesToAdd(){
@@ -93,4 +95,10 @@ public class Vision extends SubsystemBase implements Queryable {
         // throw new UnsupportedOperationException("Unimplemented method 'diagnosticStatus'");
     }
     
+    // Simple LED helper class for compilation and basic usage; replace with real implementation if available.
+    private static class LED {
+        public void setMode(LEDPatterns mode) {
+            // no-op stub for compilation; integrate with hardware driver as needed
+        }
+    }
 }

src/main/java/frc4388/utility/configurable/ConfigurableString.java

@@ -11,6 +11,7 @@ public class ConfigurableString {
      * @param name the name of the Smart Dashboard key.
      * @param defualtValue the initilization value
      */
+
     public ConfigurableString(String name, String defualtValue) {
         this.name = name;
         this.defualtValue = defualtValue;
@@ -20,4 +21,5 @@ public class ConfigurableString {
     public String get() {
         return SmartDashboard.getString(name, defualtValue);
     }
+
 }