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Iron-Panthers · Dec 5, 2024 · 31c447c · 31c447c
1 parent 18b20e3
commit 31c447c
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Showing 2 changed files with 33 additions and 36 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -4,8 +4,6 @@
 
 package frc.robot;
 
-import java.util.concurrent.LinkedTransferQueue;
-
 import edu.wpi.first.wpilibj2.command.FunctionalCommand;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
@@ -59,7 +57,6 @@ public RobotContainer() {
     Accelerator accelerator = null;
     Serializer serializer = null;
     RollerSensorsIO rollerSensorsIO = null;
-
 
     if (Constants.getRobotMode() != Mode.REPLAY) {
       switch (Constants.getRobotType()) {
@@ -138,8 +135,6 @@ private void configureBindings() {
                       driverA.getLeftTriggerAxis() - driverA.getRightTriggerAxis());
                 })
             .withName("Drive Teleop"));
-
-
 
     driverA.start().onTrue(swerve.zeroGyroCommand());
 

diff --git a/src/main/java/frc/robot/subsystems/LightsSubsystem.java b/src/main/java/frc/robot/subsystems/LightsSubsystem.java
@@ -4,37 +4,39 @@
 import edu.wpi.first.wpilibj.AddressableLEDBuffer;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-public class LightsSubsystem extends SubsystemBase{
-    private final AddressableLED lights;
-    private final AddressableLEDBuffer buffer;
-    private int firstPixelHue;
-    public LightsSubsystem() {
-        lights = new AddressableLED(34);
-        // turn off the LEDs when the can chain fails
-        buffer = new AddressableLEDBuffer(227);
-        lights.setLength(buffer.getLength());
-        lights.setData(buffer);
-        lights.start();
-        firstPixelHue = 0;
-    }
-    private void rainbow() {
-        // For every pixel
-        for (var i = 0; i < buffer.getLength(); i++) {
-            // Calculate the hue - hue is easier for rainbows because the color
-            // shape is a circle so only one value needs to precess
-            final var hue = (firstPixelHue + (i * 180 / buffer.getLength())) % 180;
-            // Set the value
-            buffer.setHSV(i, hue, 255, 128);
-        }
-        // Increase by to make the rainbow "move"
-        firstPixelHue += 3;
-        // Check bounds
-        firstPixelHue %= 180;
-    }
+public class LightsSubsystem extends SubsystemBase {
+  private final AddressableLED lights;
+  private final AddressableLEDBuffer buffer;
+  private int firstPixelHue;
 
-    @Override 
-    public void periodic(){
-        rainbow();
-        lights.setData(buffer);
+  public LightsSubsystem() {
+    lights = new AddressableLED(34);
+    // turn off the LEDs when the can chain fails
+    buffer = new AddressableLEDBuffer(227);
+    lights.setLength(buffer.getLength());
+    lights.setData(buffer);
+    lights.start();
+    firstPixelHue = 0;
+  }
+
+  private void rainbow() {
+    // For every pixel
+    for (var i = 0; i < buffer.getLength(); i++) {
+      // Calculate the hue - hue is easier for rainbows because the color
+      // shape is a circle so only one value needs to precess
+      final var hue = (firstPixelHue + (i * 180 / buffer.getLength())) % 180;
+      // Set the value
+      buffer.setHSV(i, hue, 255, 128);
     }
+    // Increase by to make the rainbow "move"
+    firstPixelHue += 3;
+    // Check bounds
+    firstPixelHue %= 180;
+  }
+
+  @Override
+  public void periodic() {
+    rainbow();
+    lights.setData(buffer);
+  }
 }