Merge pull request #285 from thedropbears/climber_light_patterns

Make the leds show climber state

Author: james-ward

components/led_component.py

@@ -152,6 +152,15 @@ def reef_offset(self, offset: float) -> None:
         self.keep_alive()
         self.is_reef_offset_flashing = True
 
+    def climber_deploying(self) -> None:
+        colour = Color.kRed if is_red() else Color.kBlue
+        self.pattern = LEDPattern.blink(LEDPattern.solid(colour), 0.15)
+        self.keep_alive()
+
+    def climber_retracting(self) -> None:
+        self.pattern = LEDPattern.blink(LEDPattern.solid(Color.kMagenta), 0.15)
+        self.keep_alive()
+
     def execute(self) -> None:
         if time.monotonic() - self.last_update_time > RESET_TIMEOUT:
             self.pattern = LEDPattern.solid(wpilib.Color.kBlack)

controllers/climber.py

@@ -4,10 +4,12 @@
 
 from components.chassis import ChassisComponent
 from components.climber import ClimberComponent
+from components.led_component import LightStrip
 from utilities.game import cage_pos, is_red
 
 
 class ClimberStateMachine(StateMachine):
+    status_lights: LightStrip
     climber: ClimberComponent
     chassis: ChassisComponent
 
@@ -22,6 +24,7 @@ def retract(self) -> None:
 
     @state(first=True, must_finish=True)
     def deploying(self, initial_call) -> None:
+        self.status_lights.climber_deploying()
         if initial_call:
             self.climber.go_to_deploy()
 
@@ -48,8 +51,9 @@ def deploying(self, initial_call) -> None:
 
     @state(must_finish=True)
     def retracting(self) -> None:
-        self.chassis.stop_snapping()
+        self.status_lights.climber_retracting()
         self.climber.start_pid_update()
+        self.chassis.stop_snapping()
         self.climber.go_to_retract()
         if self.climber.is_retracted():
             self.done()