Incorrect ball new

SwerveCode/src/main/java/frc/robot/ColorSensor.java

@@ -12,44 +12,42 @@
 public class ColorSensor{
     private final I2C.Port i2cPort = I2C.Port.kOnboard;
     private final ColorSensorV3 m_colorSensor = new ColorSensorV3(i2cPort);
-
 
     private ALLIANCE_COLOR alliance;
     private ALLIANCE_COLOR currentBallColor;
 
 
     public ColorSensor(){
-        alliance = updateCurrentBallColor();
+        alliance = updateCurrentBallColor(); 
         currentBallColor = alliance;
     }
-
-    public void getColors(){
+    public ALLIANCE_COLOR updateCurrentBallColor(){
         Color detectedColor = m_colorSensor.getColor();
-        int proximity = m_colorSensor.getProximity();
-
         SmartDashboard.putNumber("Red", detectedColor.red); //output the seen overall red value to the smartdashboard
         SmartDashboard.putNumber("Blue", detectedColor.blue); //output the seen overall blue value to the smartdashboard
-        SmartDashboard.putNumber("Proximity", proximity);  //distance from colorsensor to the nearest object (2047 to 0) output to the smartdashboard
+        SmartDashboard.putNumber("Proximity", m_colorSensor.getProximity());  //distance from colorsensor to the nearest object (2047 to 0) output to the smartdashboard
         SmartDashboard.putString("alliance", this.toString()); //current alliance value output the the smartdashboard
-        //System.out.println(detectedColor.red);
-    }
-
-    public ALLIANCE_COLOR updateCurrentBallColor(){
-        Color detectedColor = m_colorSensor.getColor();
+        if(m_colorSensor.getProximity() >= 1500){
         if(detectedColor.blue > detectedColor.red){
           return ALLIANCE_COLOR.BLUE;
         }else if(detectedColor.red > detectedColor.blue){
           return ALLIANCE_COLOR.RED;
+           }
+           else{
+            return ALLIANCE_COLOR.NONE;
+        }
         }else{
-            return ALLIANCE_COLOR.NONE;}
+            return ALLIANCE_COLOR.NONE;
+        }
       }
 
     public boolean compareBallToAlliance(){
-        if(currentBallColor == alliance){
-            return true;
-        }else if(currentBallColor != alliance){
-            return false;
-        }else{return false;}
+        boolean aColor = true;
+        if (this.alliance != ALLIANCE_COLOR.NONE){
+            ALLIANCE_COLOR color = updateCurrentBallColor();
+             aColor = (color != ALLIANCE_COLOR.NONE && color != this.alliance);
+        }
+        return aColor;
     }
 
     public int getProximity(){
@@ -78,4 +76,4 @@ public String toString(){
         }
         return s;
     }
-}
+}

SwerveCode/src/main/java/frc/robot/Robot.java

@@ -40,7 +40,7 @@ public class Robot extends TimedRobot {
   public Locality locality; 
   public Shooter shooter;
   public Collector collector;
-  public ColorSensor color;
+  public ColorSensor cSensor;
 
 
   /**
@@ -59,7 +59,7 @@ public void robotInit() {
     visionBall        = new Vision(Constants.LIMELIGHT_BALL, Constants.BALL_LOCK_ERROR, Constants.BALL_CAMERA_HEIGHT, Constants.BALL_CAMERA_ANGLE, Constants.BALL_TARGET_HEIGHT, Constants.BALL_ROTATE_KP);
     locality          = new Locality(0, 0);
     shooter           = new Shooter();
-    color             = new ColorSensor();
+    cSensor             = new ColorSensor();
     //ball.setLimelightAllianceColor(ALLIANCE_COLOR.RED);
     NetworkTableInstance.getDefault().getTable("limelight-ball").getEntry("pipeline").setNumber(1);
   }
@@ -96,7 +96,7 @@ public void robotPeriodic() {
      */
     @Override
     public void autonomousInit() {
-
+      cSensor   = new ColorSensor();
         m_autoSelected = m_chooser.getSelected();
         // m_autoSelected = SmartDashboard.getString("Auto Selector", kDefaultAuto);
         System.out.println("Auto selected: " + m_autoSelected);
@@ -108,6 +108,9 @@ public void autonomousInit() {
   /** This function is called once when teleop is enabled. */
   @Override
   public void teleopInit() {
+    if (cSensor == null){
+      cSensor = new ColorSensor();
+    }
     drive.zeroGyroscope();
     //Create the primary controller object
   }
@@ -160,12 +163,11 @@ else if(driverController.getLeftBumper() == true) {
     }
 
     SmartDashboard.putNumber("Rotate", rotate);
-    color.getColors();
-    if(color.getProximity() > 200){
-      color.updateCurrentBallColor();
+    cSensor.updateCurrentBallColor();
+    if(cSensor.getProximity() > 200){
+      cSensor.updateCurrentBallColor();
     }
 
-
   }
     /** This function is called once when the robot is disabled. */
     @Override

SwerveCode/src/main/java/frc/robot/Shooter.java

@@ -25,7 +25,7 @@ public class Shooter{
     public WPI_TalonFX flyWheelLeft;
     public WPI_TalonFX flyWheelRight;
     public WPI_TalonFX staging;
-
+    public ColorSensor cSensor;
     //motor groups
     MotorControllerGroup flyWheel;
 
@@ -61,7 +61,8 @@ public void testshooter(XboxController shooterController) {
         staging.set(shooterController.getLeftTriggerAxis());
 
             flyWheel.set(flyWheelSpeed);
-        }
     }
+
+}