changed some of the status light settings
Change-Id: I5601c2619700f877471d476d857cfd52b6575647
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);
}