LEDs

Author: JoshuaAN

src/main/java/frc/robot/RobotContainer.java

@@ -303,7 +303,7 @@ public void configureButtonBindings() {
                           .alongWith(new XBoxButtonCommand(X_BOX_B))); // baseline, upper goal, rear shot
 
       xBoxB.whenReleased(new StopShooter(mShooter)
-                            .alongWith(new TurnOnLEDs(mLimelight))
+                            .alongWith(new TurnOffLEDs(mLimelight))
                             .alongWith(new IdleCommand()));
 
       JoystickButton xBoxX = new JoystickButton(operator, X_BOX_X);

src/main/java/frc/robot/vision/Limelight.java

@@ -34,11 +34,11 @@ public boolean hasTarget() {
   }
 
   public void turnOffLEDs() {
-    getDefault().getTable("limelight").getEntry("ledMode").setDouble(1.0);
+    getDefault().getTable("limelight").getEntry("ledMode").setNumber(1);
   }
 
   public void turnOnLEDs() {
-    getDefault().getTable("limelight").getEntry("ledMode").setDouble(3.0);
+    getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
   }
 
   public static class VisionState {

src/main/java/frc/robot/vision/commands/TurnOffLEDs.java

@@ -8,7 +8,14 @@
 import frc.robot.vision.Limelight;
 
 public class TurnOffLEDs extends CommandBase {
+  Limelight limelight;
+
   public TurnOffLEDs(Limelight limelight) {
+    this.limelight = limelight;
+  }
+
+  @Override
+  public void initialize() {
     limelight.turnOffLEDs();
   }
 

src/main/java/frc/robot/vision/commands/TurnOnLEDs.java

@@ -8,12 +8,19 @@
 import frc.robot.vision.Limelight;
 
 public class TurnOnLEDs extends CommandBase {
+  Limelight limelight;
+
   public TurnOnLEDs(Limelight limelight) {
+    this.limelight = limelight;
+  }
+
+  @Override
+  public void initialize() {
     limelight.turnOnLEDs();
   }
 
   @Override
   public boolean isFinished() {
     return true;
   }
-}
+}