took a while to figure that trigger out

Yeti-Robotics · Mar 7, 2025 · c6a0145 · c6a0145
1 parent 9d10070
commit c6a0145
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Showing 2 changed files with 6 additions and 17 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -69,7 +69,7 @@ public RobotContainer() {
                 new CommandXboxController(Constants.SECONDARY_XBOX_CONTROLLER_PORT);
         drivetrain = TunerConstants.createDrivetrain();
         coralManipulator = new CoralManipulatorSystem();
-        leds = new LEDSubsystem(coralManipulator);
+        leds = new LEDSubsystem();
         climber = new ClimberSubsystem();
         configureBindings();
         assembleMechanisms();
@@ -140,8 +140,7 @@ private void configureTriggers() {
         new Trigger(coralManipulator.grabber::hasCoral)
                 .and(DriverStation::isEnabled)
                 .onTrue(runOnce(() -> leds.setAnimation(Events.CORALINTAKE)));
-        new Trigger(coralManipulator::isTransitioning).onTrue(leds.selectAnimationCommand());
-        new Trigger(coralManipulator::isTransitioning).onTrue(leds.selectAnimationCommand());
+        new Trigger(coralManipulator::isTransitioning).onFalse(leds.selectAnimationCommand(coralManipulator::getCurrentState));
     }
 
     private void assembleMechanisms() {

diff --git a/src/main/java/frc/robot/subsystems/led/LEDSubsystem.java b/src/main/java/frc/robot/subsystems/led/LEDSubsystem.java
@@ -6,11 +6,10 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SelectCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.constants.Constants;
 import frc.robot.subsystems.coral.CoralManipulatorState;
-import frc.robot.subsystems.coral.CoralManipulatorSystem;
 import java.util.Map;
+import java.util.function.Supplier;
 
 public class LEDSubsystem extends SubsystemBase {
     public final CANdle candle = new CANdle(0, Constants.RIO_BUS);
@@ -20,9 +19,8 @@ public class LEDSubsystem extends SubsystemBase {
     private CANdleConfiguration configAll;
     public ProgressBar progressBar;
     private Events event;
-    private final CoralManipulatorSystem cms;
 
-    public LEDSubsystem(CoralManipulatorSystem cms) {
+    public LEDSubsystem() {
         configAll = new CANdleConfiguration();
         configAll.statusLedOffWhenActive = false;
         configAll.disableWhenLOS = false;
@@ -31,8 +29,6 @@ public LEDSubsystem(CoralManipulatorSystem cms) {
         configAll.vBatOutputMode = CANdle.VBatOutputMode.On;
         candle.configAllSettings(configAll, 100);
         progressBar = new ProgressBar(this);
-        this.cms = cms;
-        new Trigger(cms::isTransitioning).onTrue(selectAnimationCommand());
     }
 
     public void clearAnimation() {
@@ -155,13 +151,7 @@ public void setAnimation(Events animation) {
         candle.animate(toAnimate);
     }
 
-    private CoralManipulatorState queuedState = CoralManipulatorState.IDLE;
-
-    private void queueState(CoralManipulatorState state) {
-        queuedState = state;
-    }
-
-    public Command selectAnimationCommand() {
+    public Command selectAnimationCommand(Supplier<CoralManipulatorState> getCMS) {
         return new SelectCommand<>(
                 Map.ofEntries(
                         Map.entry(
@@ -197,7 +187,7 @@ public Command selectAnimationCommand() {
                         Map.entry(
                                 CoralManipulatorState.STOWED,
                                 runOnce(() -> setAnimation(Events.CORALSTOWED)))),
-                cms::getQueuedState);
+                getCMS);
     }
 
     @Override