LED handling for bloop shot.

Author: jasenj1

src/main/java/frc/robot/Robot.java

@@ -64,6 +64,9 @@ public void robotInit() {
     Preferences.initDouble("BUR.Velocity", 1980.0);
     Preferences.initDouble("BUR.Angle", 73.25);
 
+    Preferences.initDouble("BLP.Velocity", 500.0);
+    Preferences.initDouble("BLP.Angle", 60.0);
+
     // Instantiate our RobotContainer. This will perform all our button bindings,
     // and put our
     // autonomous chooser on the dashboard.

src/main/java/frc/robot/shooter/commands/FlywheelController.java

@@ -14,7 +14,6 @@
 
 public class FlywheelController extends CommandBase {
 
-    private final double kTolerance = 0.8;
     Shooter shooter;
     double lastPosition, lastTime, hoodAngle;
     double rpm;
@@ -23,8 +22,8 @@ public class FlywheelController extends CommandBase {
     private DCMotor flywheel = new DCMotor(0.002081897, 0, 0.317466);
     private PIDController flywheelController = new PIDController(0.02, 0, 0);
     // private PIDController flywheelController = new PIDController(0.05, 0, 0);
-    private boolean closeToTarget = false;
-    private double velocity = 0;
+    boolean closeToTarget = false;
+    double velocity = 0;
 
     public FlywheelController(Shooter shooter, double rpm, double hoodAngle) {
         this.shooter = shooter;
@@ -70,19 +69,6 @@ void controller() {
         lastTime = time;        
     }
 
-    @Override
-    public void execute() {
-        double targetDelta = rpm - velocity;
-        
-        if ((Math.abs(targetDelta) < 20) && !closeToTarget) {
-            closeToTarget = true;
-            // Only do this if it is a preset shot
-            if (this instanceof PresetFlywheelController) {
-                Status.getInstance().fillLEDs();
-            }
-        }
-    }
-
     @Override
     public void end(boolean interrupted) {
         controller.stop();

src/main/java/frc/robot/shooter/commands/PresetFlywheelController.java

@@ -2,6 +2,7 @@
 
 import edu.wpi.first.wpilibj.Preferences;
 import frc.robot.shooter.Shooter;
+import frc.robot.status.Status;
 import frc.robot.vision.Limelight;
 
 public class PresetFlywheelController extends FlywheelController {
@@ -45,4 +46,16 @@ public void initialize() {
         controller.startPeriodic(0.02);        
     }
 
+    @Override
+    public void execute() {
+        double targetDelta = rpm - velocity;
+        
+        if ((Math.abs(targetDelta) < 20) && !closeToTarget) {
+            closeToTarget = true;
+            if (!"BLP".equals(preset)) {
+                Status.getInstance().fillLEDs();
+            }
+        }
+    }
+
 }