From 3a45f902a2728fb269bb3debd132da97d0d42248 Mon Sep 17 00:00:00 2001
From: programming353 <58999047+programming353@users.noreply.github.com>
Date: Thu, 25 Jan 2024 17:27:21 -0500
Subject: [PATCH 1/2] Lights

---
 .../robot/commands/leds/FlashingLights.java   | 63 +++++++++++++++++++
 .../frc/robot/commands/leds/IntakeLight.java  | 62 ++++++++++++++++++
 2 files changed, 125 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/leds/FlashingLights.java
 create mode 100644 src/main/java/frc/robot/commands/leds/IntakeLight.java

diff --git a/src/main/java/frc/robot/commands/leds/FlashingLights.java b/src/main/java/frc/robot/commands/leds/FlashingLights.java
new file mode 100644
index 0000000..5fee87f
--- /dev/null
+++ b/src/main/java/frc/robot/commands/leds/FlashingLights.java
@@ -0,0 +1,63 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.leds;
+
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants.LEDConstants;
+import frc.robot.subsystems.LEDs;
+import edu.wpi.first.wpilibj.Timer;
+
+public class FlashingLights extends Command {
+  private final Color color;
+  private final LEDs leds;
+  private Timer timer = new Timer();
+  double time;
+
+  /** Creates a new FlashingLights. */
+  public FlashingLights(double time,Color color, LEDs leds) {
+    this.color = color;
+    this.leds = leds;
+
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(leds);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double getTime = timer.get();
+    AddressableLEDBuffer buffer = leds.getBuffer();
+    if (getTime <= time) {
+      for (int i = 0; i < buffer.getLength(); i++) {
+        buffer.setLED(i, color);
+      }
+      leds.updateBuffer();
+    } else if(getTime >= 2*time) {
+      timer.restart();
+    } else {
+      for (int i = 0; i < buffer.getLength(); i++){
+      buffer.setLED(i, LEDConstants.transparent);
+      }
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/leds/IntakeLight.java b/src/main/java/frc/robot/commands/leds/IntakeLight.java
new file mode 100644
index 0000000..befb783
--- /dev/null
+++ b/src/main/java/frc/robot/commands/leds/IntakeLight.java
@@ -0,0 +1,62 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.leds;
+
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants.LEDConstants;
+import frc.robot.subsystems.Intake;
+import frc.robot.subsystems.LEDs;
+
+public class IntakeLight extends Command {
+  /** Creates a new IntakeLight. */
+    private final Color color;
+    private final LEDs leds;
+    private final Intake intake;
+
+     public IntakeLight(Intake intake,Color color, LEDs leds) {
+      this.color = color;
+      this.leds = leds;
+      this.intake = intake;
+
+      addRequirements(leds);
+      addRequirements(intake);
+    }
+
+    // Use addRequirements() here to declare subsystem dependencies.
+
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+
+    AddressableLEDBuffer buffer = leds.getBuffer();
+
+    if(intake.isIRBeamBreakBroken()) {
+      for (int i = 0; i < buffer.getLength(); i++) {
+        buffer.setLED(i, color);
+      }
+    } else {
+       for (int i = 0; i < buffer.getLength(); i++) {
+        buffer.setLED(i, LEDConstants.transparent);
+    }
+
+  }
+  }
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

From c567ff901f9013b4d71949c0aab76e5489c05dff Mon Sep 17 00:00:00 2001
From: programming353 <58999047+programming353@users.noreply.github.com>
Date: Mon, 29 Jan 2024 16:48:12 -0500
Subject: [PATCH 2/2] Fixed lights

---
 .../robot/commands/leds/FlashingLights.java   | 35 ++++++-----
 .../frc/robot/commands/leds/IntakeLight.java  | 62 -------------------
 2 files changed, 21 insertions(+), 76 deletions(-)
 delete mode 100644 src/main/java/frc/robot/commands/leds/IntakeLight.java

diff --git a/src/main/java/frc/robot/commands/leds/FlashingLights.java b/src/main/java/frc/robot/commands/leds/FlashingLights.java
index 5fee87f..9e753ea 100644
--- a/src/main/java/frc/robot/commands/leds/FlashingLights.java
+++ b/src/main/java/frc/robot/commands/leds/FlashingLights.java
@@ -5,20 +5,22 @@
 package frc.robot.commands.leds;
 
 import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants.LEDConstants;
 import frc.robot.subsystems.LEDs;
-import edu.wpi.first.wpilibj.Timer;
 
 public class FlashingLights extends Command {
   private final Color color;
   private final LEDs leds;
   private Timer timer = new Timer();
-  double time;
+
+  private double period;
+  private boolean ledsOn = false;
 
   /** Creates a new FlashingLights. */
-  public FlashingLights(double time,Color color, LEDs leds) {
+  public FlashingLights(double period, Color color, LEDs leds) {
     this.color = color;
     this.leds = leds;
 
@@ -29,30 +31,35 @@ public FlashingLights(double time,Color color, LEDs leds) {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
+    timer.start();
+    ledsOn = false;
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double getTime = timer.get();
-    AddressableLEDBuffer buffer = leds.getBuffer();
-    if (getTime <= time) {
-      for (int i = 0; i < buffer.getLength(); i++) {
-        buffer.setLED(i, color);
+    if (timer.advanceIfElapsed(period)) {
+      AddressableLEDBuffer buffer = leds.getBuffer();
+      ledsOn = !ledsOn;
+      if (ledsOn) {
+        for (int i = 0; i < buffer.getLength(); i++) {
+          buffer.setLED(i, color);
+        }
+      } else {
+        for (int i = 0; i < buffer.getLength(); i++) {
+          buffer.setLED(i, LEDConstants.transparent);
+        }
       }
+
       leds.updateBuffer();
-    } else if(getTime >= 2*time) {
-      timer.restart();
-    } else {
-      for (int i = 0; i < buffer.getLength(); i++){
-      buffer.setLED(i, LEDConstants.transparent);
-      }
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
+    timer.stop();
+    timer.reset();
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/commands/leds/IntakeLight.java b/src/main/java/frc/robot/commands/leds/IntakeLight.java
deleted file mode 100644
index befb783..0000000
--- a/src/main/java/frc/robot/commands/leds/IntakeLight.java
+++ /dev/null
@@ -1,62 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.commands.leds;
-
-import edu.wpi.first.wpilibj.AddressableLEDBuffer;
-import edu.wpi.first.wpilibj.util.Color;
-import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.Constants.LEDConstants;
-import frc.robot.subsystems.Intake;
-import frc.robot.subsystems.LEDs;
-
-public class IntakeLight extends Command {
-  /** Creates a new IntakeLight. */
-    private final Color color;
-    private final LEDs leds;
-    private final Intake intake;
-
-     public IntakeLight(Intake intake,Color color, LEDs leds) {
-      this.color = color;
-      this.leds = leds;
-      this.intake = intake;
-
-      addRequirements(leds);
-      addRequirements(intake);
-    }
-
-    // Use addRequirements() here to declare subsystem dependencies.
-
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-
-    AddressableLEDBuffer buffer = leds.getBuffer();
-
-    if(intake.isIRBeamBreakBroken()) {
-      for (int i = 0; i < buffer.getLength(); i++) {
-        buffer.setLED(i, color);
-      }
-    } else {
-       for (int i = 0; i < buffer.getLength(); i++) {
-        buffer.setLED(i, LEDConstants.transparent);
-    }
-
-  }
-  }
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}