commit 77a11cf370e294a6a7b2341d98798e4dbfd8af0c
author Sabina Davis <sabina1109@gmail.com> Sat Mar 09 18:20:26 2019 -0800
committer Sabina Davis <sabina1109@gmail.com> Sun Mar 10 20:33:24 2019 -0700
tree 8691e28a44365b1450e1a6a2d22bbfabbc708500
parent 30adf34ec6b6f30e9cbebc1eacd831ba2bdd8d9c

changed some of the status light settings

Change-Id: I5601c2619700f877471d476d857cfd52b6575647

y2019/control_loops/superstructure/superstructure.cc

diff --git a/y2019/control_loops/superstructure/superstructure.cc b/y2019/control_loops/superstructure/superstructure.cc
index dd332b8..f62ba37 100644
--- a/y2019/control_loops/superstructure/superstructure.cc
+++ b/y2019/control_loops/superstructure/superstructure.cc
@@ -96,13 +96,16 @@
     // Light Logic
     if (status->estopped) {
       // Estop is red
-      SendColors(0.5, 0.0, 0.0);
-    } else if (unsafe_goal->suction.gamepiece_mode == 0) {
-      // Ball mode is blue
-      SendColors(0.0, 0.0, 0.5);
-    } else if (unsafe_goal->suction.gamepiece_mode == 1) {
-      // Disk mode is yellow
-      SendColors(0.5, 0.5, 0.0);
+      SendColors(1.0, 0.0, 0.0);
+    } else if (status->has_piece) {
+      // Having suction is green
+      SendColors(0.0, 1.0, 0.0);
+    } else if (unsafe_goal->suction.gamepiece_mode == 0 && !status->has_piece) {
+      // Ball mode is orange
+      SendColors(1.0, 0.1, 0.0);
+    } else if (unsafe_goal->suction.gamepiece_mode == 1 && !status->has_piece) {
+      // Disk mode is deep blue
+      SendColors(0.05, 0.1, 0.5);
     } else {
       SendColors(0.0, 0.0, 0.0);
     }

y2019/wpilib_interface.cc

diff --git a/y2019/wpilib_interface.cc b/y2019/wpilib_interface.cc
index 2a21274..fd9df73 100644
--- a/y2019/wpilib_interface.cc
+++ b/y2019/wpilib_interface.cc
@@ -563,20 +563,20 @@
       time_since_last_send = 0;
     }
     if (status_light.green != last_green_ || time_since_last_send == 0) {
-      canifier_.SetLEDOutput(1.0 - status_light.green,
-                             ::ctre::phoenix::CANifier::LEDChannelB);
+      canifier_.SetLEDOutput(status_light.green,
+                             ::ctre::phoenix::CANifier::LEDChannelA);
       last_green_ = status_light.green;
     }
 
     if (status_light.blue != last_blue_ || time_since_last_send == 0) {
-      canifier_.SetLEDOutput(1.0 - status_light.blue,
-                             ::ctre::phoenix::CANifier::LEDChannelA);
+      canifier_.SetLEDOutput(status_light.blue,
+                             ::ctre::phoenix::CANifier::LEDChannelC);
       last_blue_ = status_light.blue;
     }
 
     if (status_light.red != last_red_ || time_since_last_send == 0) {
-      canifier_.SetLEDOutput(1.0 - status_light.red,
-                             ::ctre::phoenix::CANifier::LEDChannelC);
+      canifier_.SetLEDOutput(status_light.red,
+                             ::ctre::phoenix::CANifier::LEDChannelB);
       last_red_ = status_light.red;
     }
   }