think this is what rishay meant lol

grt192 · Oct 26, 2023 · b9bcc66 · b9bcc66
1 parent 9593bb3
commit b9bcc66
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Showing 2 changed files with 8 additions and 9 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -30,7 +30,7 @@ public class RobotContainer {
   private final LukeMech lukeMech;
   private final AryaMech aryaMech;
 
-
+  private final int LED_PWM_PORT = 0;
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
@@ -43,7 +43,7 @@ public RobotContainer() {
     vivienMech = new SolenoidMech(pcm2.makeSolenoid(2), 5, 5);
 
     lukeMech = new LukeMech(pcm1.makeSolenoid(0), pcm1.makeSolenoid(0)); //TODO: CHANGEEEEE CHANGEEEE
-    aryaMech = new AryaMech(pcm2.makeSolenoid(0), pcm2.makeSolenoid(0)); //TODO: CHANGEEEEE CHANGEEEE
+    aryaMech = new AryaMech(pcm2.makeSolenoid(0), pcm2.makeSolenoid(0), pcm2.makeSolenoid(LED_PWM_PORT)); //TODO: CHANGEEEEE CHANGEEEE
     // Configure the trigger bindings
   }
 

diff --git a/src/main/java/frc/robot/subsystems/AryaMech.java b/src/main/java/frc/robot/subsystems/AryaMech.java
@@ -16,6 +16,7 @@ public class AryaMech extends SubsystemBase{
     private Timer timer;
     private Solenoid shortSolenoid;
     private Solenoid longSolenoid;
+    private final Solenoid ledStrip;
 
     private double longOut;
     private double longIn;
@@ -28,13 +29,12 @@ public class AryaMech extends SubsystemBase{
     private Timer audio_timer;
     private final double time_to_wait_before_turning_off_audio_signal;
 
-    private final AnalogOutput ledStrip;
-    private final int LED_PWM_PORT = 0;
     private Timer ledTimer;
 
-    public AryaMech(Solenoid shortSolenoid, Solenoid longSolenoid){
+    public AryaMech(Solenoid shortSolenoid, Solenoid longSolenoid, Solenoid ledStrip){
         this.shortSolenoid = shortSolenoid;
         this.longSolenoid = longSolenoid;
+        this.ledStrip = ledStrip;
 
         //ik this looks sus but its for ease of change
         shortOut = 0;
@@ -49,7 +49,6 @@ public AryaMech(Solenoid shortSolenoid, Solenoid longSolenoid){
         audio_timer = new Timer();
         time_to_wait_before_turning_off_audio_signal = 1.0;
 
-        ledStrip = new AnalogOutput(LED_PWM_PORT);
         ledTimer = new Timer();
 
         timer= new Timer();
@@ -60,7 +59,7 @@ public AryaMech(Solenoid shortSolenoid, Solenoid longSolenoid){
     public void periodic() {
 
         if(ledTimer.hasElapsed(0.25)){
-            ledStrip.setVoltage(0.0);
+            ledStrip.set(false);
             ledTimer.stop();
             ledTimer.reset();
             ledTimer.start();
@@ -85,15 +84,15 @@ else if (timer.hasElapsed(longOut)){
             audio_timer.reset(); // setting a timer so that we can stop sending the signal after an appropriate amount of time
             audio_timer.start(); // if we don't stop sending the trigger signal, the audio might start playing again
 
-            ledStrip.setVoltage(5.0);
+            ledStrip.set(true);
             ledTimer.reset();
             ledTimer.start();
 
             longSolenoid.set(true);
         }
         else if (timer.advanceIfElapsed(longIn)){
             longSolenoid.set(false);
-            ledStrip.setVoltage(0.0);
+            ledStrip.set(false);
         }
 
     }