Pull in a few older tweaks to LEDs

Author: caparomula

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

@@ -455,11 +455,12 @@ protected Command createRollerAnimationCommand() {
         "createRollerAnimation: algae=%b, coral=%b%n",
         algaeRoller.isRolling, coralRoller.isRolling);
     /*
-     * On intake, one and only one is rolling
+     * Both rollers run for intake and outtake now, so need to use motor direction
+     * to determine intake vs. outtake
      */
     BooleanSupplier intakeSupplier =
         () -> {
-          return coralRoller.isRolling.getAsBoolean() ^ algaeRoller.isRolling.getAsBoolean();
+          return coralRoller.getRollerVelocity() > 0 || algaeRoller.getRollerVelocity() > 0;
         };
 
     /*
@@ -477,17 +478,13 @@ protected Command createRollerAnimationCommand() {
             return gamepiece == null ? Color.kYellow : gamepiece.color;
           }
           /*
-           * Otherwise, use the color associated with the gripper's target piece.
+           * Otherwise, use the color associated with the current control mode.
            */
-          else if (algaeRoller.isRolling.getAsBoolean()) {
+          else if (algaeModeSupplier.getAsBoolean()) {
             return Gamepiece.ALGAE.color;
-          } else if (coralRoller.isRolling.getAsBoolean()) {
+          } else {
             return Gamepiece.CORAL.color;
           }
-          /*
-           * On some weird logic error, use red.
-           */
-          return Color.kRed;
         };
 
     return leds.createRollerAnimationCommand(intakeSupplier, colorSupplier);

src/main/java/frc/robot/elevator/AlgaeRoller.java

@@ -29,7 +29,7 @@ public class AlgaeRoller extends SubsystemBase {
 
   private final RelativeEncoder encoder = leaderMotor.getEncoder();
   private final SparkLimitSwitch algaeSensor = leaderMotor.getForwardLimitSwitch();
-  public Trigger hasAlgae = new Trigger(() -> algaeSensor.isPressed());
+  public final Trigger hasAlgae = new Trigger(() -> algaeSensor.isPressed());
   public final Trigger isRolling = new Trigger(() -> Math.abs(encoder.getVelocity()) > 1);
 
   public AlgaeRoller() {

src/main/java/frc/robot/elevator/CoralRoller.java

@@ -25,7 +25,7 @@ public class CoralRoller extends SubsystemBase {
   private final RelativeEncoder encoder = motor.getEncoder();
   private final SparkLimitSwitch coralSensor = motor.getForwardLimitSwitch();
   public final Trigger hasCoral = new Trigger(() -> coralSensor.isPressed());
-  public final Trigger isRolling = new Trigger(() -> Math.abs(encoder.getVelocity()) > 1);
+  public final Trigger isRolling = new Trigger(() -> Math.abs(getRollerVelocity()) > 1);
 
   public CoralRoller() {
     // spotless:off

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

@@ -42,6 +42,7 @@ private Camera(String name, Translation3d translation, Rotation3d rotation) {
     this.transform = new Transform3d(translation, rotation);
     this.device = new PhotonCamera(name);
 
+    // TODO: switch back to official field layout
     AprilTagFieldLayout tagLayout;
     try {
       tagLayout = new AprilTagFieldLayout(VisionConstants.kAprilTagLayoutPath);