From 13d60c54f3b295cafa3440f53299126cb9ddf767 Mon Sep 17 00:00:00 2001
From: Olivier Demers <olidem123@gmail.com>
Date: Mon, 2 May 2022 19:17:03 -0400
Subject: [PATCH] Fixed LED modes and drive CAN id

---
 src/main/java/frc/robot/Constants.java      |  4 ++--
 src/main/java/frc/robot/RobotContainer.java |  4 ++++
 src/main/java/frc/robot/subsystems/Led.java | 16 ++++++++--------
 3 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 3ebcfb0..1fb2095 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -13,8 +13,8 @@ package frc.robot;
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
-    public static final int MOTEUR_DROIT = 2;
-    public static final int MOTEUR_GAUCHE = 1;
+    public static final int MOTEUR_DROIT = 1;
+    public static final int MOTEUR_GAUCHE = 2;
 
     public static final int LED_PORT = 0;
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c5a00cb..b82d7e2 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -7,8 +7,10 @@ package frc.robot;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.RunCommand;
 import frc.robot.commands.Drive;
 import frc.robot.subsystems.DriveTrain;
+import frc.robot.subsystems.Led;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -22,6 +24,7 @@ public class RobotContainer {
 
   // The robot's subsystems and commands are defined here...
   private final DriveTrain driveTrain = new DriveTrain();
+  private final Led led = new Led();
 
   private final Drive drive = new Drive(driveTrain, () -> -controller.getLeftY(), () -> controller.getLeftX());
 
@@ -31,6 +34,7 @@ public class RobotContainer {
     configureButtonBindings();
 
     driveTrain.setDefaultCommand(drive);
+    led.setDefaultCommand(new RunCommand(() -> led.rainbow(), led));
 
   }
 
diff --git a/src/main/java/frc/robot/subsystems/Led.java b/src/main/java/frc/robot/subsystems/Led.java
index aa9af4a..2939765 100644
--- a/src/main/java/frc/robot/subsystems/Led.java
+++ b/src/main/java/frc/robot/subsystems/Led.java
@@ -37,9 +37,9 @@ public class Led extends SubsystemBase {
     led.setData(buffer);
     led.start();
 
-    layout.add(new RunCommand(() -> rainbow(), this));
-    layout.add(new RunCommand(() -> colorCycle(), this));
-    layout.add(new RunCommand(() -> chase(), this));
+    layout.add(new RunCommand(() -> rainbow(), this).withName("Rainbow"));
+    layout.add(new RunCommand(() -> colorCycle(), this).withName("Color Cycle"));
+    layout.add(new RunCommand(() -> chase(), this).withName("Chase"));
   }
 
   public void rainbow() {
@@ -48,15 +48,15 @@ public class Led extends SubsystemBase {
       buffer.setHSV(i, hue, 255, 128);
     }
     rainbowFirstPixelHue += 3;
-    rainbowFirstPixelHue %= 181;
+    rainbowFirstPixelHue %= 180;
   }
 
   public void colorCycle() {
     for (int i = 0; i < buffer.getLength(); i++) {
       buffer.setHSV(i, cycleHue, 255, 128);
     }
-    cycleHue += 2;
-    cycleHue %= 181;
+    cycleHue += 1;
+    cycleHue %= 180;
   }
 
   public void chase() {
@@ -78,8 +78,8 @@ public class Led extends SubsystemBase {
         }
       }
     }
-    chaseFirstPixel += 2;
-    chaseFirstPixel %= 181;
+    chaseFirstPixel += 1;
+    chaseFirstPixel %= buffer.getLength();
   }
 
   @Override