From 4de77548811f7460ee1d168805bc7673daf9e2ee Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Sat, 27 Mar 2021 16:05:59 -0600 Subject: [PATCH] SLALOM 7.43 --- PathWeaver/Paths/Slalom | 22 +++++++++---------- PathWeaver/Paths/SlalomClose | 12 ++++++++++ src/main/deploy/paths/Slalom.wpilib.json | 2 +- src/main/deploy/paths/SlalomClose.wpilib.json | 1 + src/main/java/frc4388/robot/Robot.java | 1 + .../java/frc4388/robot/RobotContainer.java | 2 +- .../frc4388/robot/subsystems/LimeLight.java | 2 +- 7 files changed, 27 insertions(+), 15 deletions(-) create mode 100644 PathWeaver/Paths/SlalomClose create mode 100644 src/main/deploy/paths/SlalomClose.wpilib.json diff --git a/PathWeaver/Paths/Slalom b/PathWeaver/Paths/Slalom index 603de34..39b2a86 100644 --- a/PathWeaver/Paths/Slalom +++ b/PathWeaver/Paths/Slalom @@ -1,13 +1,11 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -1.2,-3.8989,1.9117168073181727,0.007854970044450571,true, 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 75955a6..76e9547 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -70,6 +70,7 @@ public class Robot extends TimedRobot { /* Builds Autos */ m_robotContainer.buildAutos(); SmartDashboard.putString("Is Auto Start?", "NAH"); + m_robotContainer.m_robotLime.limeOff(); } @Override diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index c851e5f..100b794 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -105,7 +105,7 @@ public class RobotContainer { /* Cameras */ private final Camera m_robotCameraFront = new Camera("front", 0, 160, 120, 40); private final Camera m_robotCameraBack = new Camera("back", 1, 160, 120, 40); - private final LimeLight m_robotLime = new LimeLight(); + public final LimeLight m_robotLime = new LimeLight(); /* Controllers */ private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); diff --git a/src/main/java/frc4388/robot/subsystems/LimeLight.java b/src/main/java/frc4388/robot/subsystems/LimeLight.java index d8e39a4..9ea2c96 100644 --- a/src/main/java/frc4388/robot/subsystems/LimeLight.java +++ b/src/main/java/frc4388/robot/subsystems/LimeLight.java @@ -20,7 +20,7 @@ public class LimeLight extends SubsystemBase { public void limeOff(){ NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1); - NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0); + NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(1); } public void limeOn(){