Stop test mode crashing

FRCTeam3044 · Feb 13, 2025 · 18ea6a1 · 18ea6a1
1 parent 64639df
commit 18ea6a1
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Showing 3 changed files with 22 additions and 13 deletions.
diff --git a/simgui.json b/simgui.json
@@ -51,6 +51,11 @@
         "window": {
           "visible": true
         }
+      },
+      "/SmartDashboard/Scheduler": {
+        "window": {
+          "visible": true
+        }
       }
     }
   },

diff --git a/src/main/java/frc/robot/subsystems/LEDs/LEDs.java b/src/main/java/frc/robot/subsystems/LEDs/LEDs.java
@@ -1,6 +1,5 @@
 package frc.robot.subsystems.LEDs;
 
-import edu.wpi.first.units.measure.Time;
 import edu.wpi.first.wpilibj.LEDPattern;
 import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.Command;

diff --git a/src/main/java/frc/robot/subsystems/LEDs/LEDsIORio.java b/src/main/java/frc/robot/subsystems/LEDs/LEDsIORio.java
@@ -1,6 +1,5 @@
 package frc.robot.subsystems.LEDs;
 
-
 import edu.wpi.first.wpilibj.AddressableLED;
 import edu.wpi.first.wpilibj.AddressableLEDBuffer;
 import edu.wpi.first.wpilibj.LEDPattern;
@@ -17,8 +16,7 @@ public class LEDsIORio implements LEDsIO {
     private final AddressableLED LEDStrip = new AddressableLED(PWM);
     private final AddressableLEDBuffer buffer = new AddressableLEDBuffer(length);
 
-
-    public void LEDsIORio() {
+    public LEDsIORio() {
         LEDStrip.setLength(buffer.getLength());
         LEDStrip.start();
     }
@@ -45,18 +43,22 @@ public void setSpinningColor(Color color1, Color color2) {
         LEDStrip.setData(buffer);
     }
 
-   @Override
+    @Override
     public void makeMorseCode(String phrase) {
-        if (ToMorseCode.toMorseCode(phrase).get(LEDsIOInputs.indexOfStr).toString().charAt(LEDsIOInputs.indexOfChar) == '.') {
+        if (ToMorseCode.toMorseCode(phrase).get(LEDsIOInputs.indexOfStr).toString()
+                .charAt(LEDsIOInputs.indexOfChar) == '.') {
             LEDsIOInputs.currentTime = Seconds.of(edu.wpi.first.wpilibj.Timer.getFPGATimestamp());
             setSolidColor(LEDPattern.solid(Color.kYellow));
-            if (LEDsIOInputs.timeOfDot.plus(LEDsIOInputs.currentTime).lt(Seconds.of(edu.wpi.first.wpilibj.Timer.getFPGATimestamp()))) {
-                if (ToMorseCode.toMorseCode(phrase).get(LEDsIOInputs.indexOfStr).toString().length() < LEDsIOInputs.indexOfChar) {
+            if (LEDsIOInputs.timeOfDot.plus(LEDsIOInputs.currentTime)
+                    .lt(Seconds.of(edu.wpi.first.wpilibj.Timer.getFPGATimestamp()))) {
+                if (ToMorseCode.toMorseCode(phrase).get(LEDsIOInputs.indexOfStr).toString()
+                        .length() < LEDsIOInputs.indexOfChar) {
                     LEDsIOInputs.indexOfChar = 0;
                     LEDsIOInputs.indexOfStr++;
                     LEDsIOInputs.currentTime = Seconds.of(edu.wpi.first.wpilibj.Timer.getFPGATimestamp());
                     setSolidColor(LEDPattern.solid(Color.kYellow));
-                    if (LEDsIOInputs.currentTime.lt(LEDsIOInputs.timeOfDot.plus(LEDsIOInputs.timeOfDot).plus(LEDsIOInputs.timeOfDot))) {
+                    if (LEDsIOInputs.currentTime
+                            .lt(LEDsIOInputs.timeOfDot.plus(LEDsIOInputs.timeOfDot).plus(LEDsIOInputs.timeOfDot))) {
                         setSolidColor(LEDPattern.solid(Color.kPurple));
                     }
                 } else {
@@ -67,19 +69,22 @@ public void makeMorseCode(String phrase) {
         } else {
             LEDsIOInputs.currentTime = Seconds.of(edu.wpi.first.wpilibj.Timer.getFPGATimestamp());
             setSolidColor(LEDPattern.solid(Color.kYellow));
-            if (LEDsIOInputs.currentTime.plus(LEDsIOInputs.timeOfDash).lt(Seconds.of(edu.wpi.first.wpilibj.Timer.getFPGATimestamp()))) {
-                if (ToMorseCode.toMorseCode(phrase).get(LEDsIOInputs.indexOfStr).toString().length() < LEDsIOInputs.indexOfChar) {
+            if (LEDsIOInputs.currentTime.plus(LEDsIOInputs.timeOfDash)
+                    .lt(Seconds.of(edu.wpi.first.wpilibj.Timer.getFPGATimestamp()))) {
+                if (ToMorseCode.toMorseCode(phrase).get(LEDsIOInputs.indexOfStr).toString()
+                        .length() < LEDsIOInputs.indexOfChar) {
                     LEDsIOInputs.indexOfChar = 0;
                     LEDsIOInputs.indexOfStr++;
                     LEDsIOInputs.currentTime = Seconds.of(edu.wpi.first.wpilibj.Timer.getFPGATimestamp());
                     setSolidColor(LEDPattern.solid(Color.kYellow));
-                    if (LEDsIOInputs.currentTime.lt(LEDsIOInputs.timeOfDot.plus(LEDsIOInputs.timeOfDot).plus(LEDsIOInputs.timeOfDot))) {
+                    if (LEDsIOInputs.currentTime
+                            .lt(LEDsIOInputs.timeOfDot.plus(LEDsIOInputs.timeOfDot).plus(LEDsIOInputs.timeOfDot))) {
                         setSolidColor(LEDPattern.solid(Color.kPurple));
                     }
                 } else {
                     LEDsIOInputs.indexOfChar++;
                 }
             }
         }
-    } 
+    }
 }