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Color indication of auto align failure/success #292

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18 changes: 15 additions & 3 deletions src/main/java/frc/robot/commands/alignment/AlignClosestBranch.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,20 +4,24 @@
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc.robot.constants.AlignmentPosition;
import frc.robot.constants.Constants;
import frc.robot.subsystems.lightStrip.LightStrip;
import frc.robot.subsystems.swervev3.SwerveDrivetrain;
import frc.robot.utils.BlinkinPattern;
import frc.robot.utils.logging.commands.LoggableCommand;
import frc.robot.utils.logging.commands.LoggableCommandWrapper;
import org.littletonrobotics.junction.Logger;

public class AlignClosestBranch extends LoggableCommand {
private AlignmentPosition alignmentTarget;
private final SwerveDrivetrain drivetrain;
private final LightStrip light;
private LoggableCommand followTrajectory;
private final Timer timer = new Timer();

public AlignClosestBranch(SwerveDrivetrain drivetrain) {
public AlignClosestBranch(SwerveDrivetrain drivetrain, LightStrip lightStrip) {
this.drivetrain = drivetrain;
addRequirements(drivetrain);
this.light = lightStrip;
addRequirements(drivetrain, lightStrip);
}

@Override
Expand Down Expand Up @@ -46,6 +50,14 @@ public void end(boolean interrupted) {

@Override
public boolean isFinished() {
return followTrajectory.isFinished() || timer.hasElapsed(Constants.AUTO_ALIGN_TIMEOUT);
if (followTrajectory.isFinished()) {
light.setPattern(BlinkinPattern.LAWN_GREEN);
return true;
} else if (timer.hasElapsed(Constants.AUTO_ALIGN_TIMEOUT)) {
light.setPattern(BlinkinPattern.HEARTBEAT_RED);
return true;
} else {
return false;
}
}
}