diff --git a/src/main/java/frc/robot/commands/Pince/Algue_inspire.java b/src/main/java/frc/robot/commands/Pince/Algue_inspire.java index 6c76b6b..6e5d426 100644 --- a/src/main/java/frc/robot/commands/Pince/Algue_inspire.java +++ b/src/main/java/frc/robot/commands/Pince/Algue_inspire.java @@ -31,7 +31,7 @@ public class Algue_inspire extends Command { @Override public void execute() { - if(pince.emperagealgue()>60){ + if(pince.emperagealgue()>90){ pince.aspirealgue(0); bougie.Bleu(); } diff --git a/src/main/java/frc/robot/commands/Pince/CoralExpire.java b/src/main/java/frc/robot/commands/Pince/CoralExpire.java index 4db46df..5f67ff8 100644 --- a/src/main/java/frc/robot/commands/Pince/CoralExpire.java +++ b/src/main/java/frc/robot/commands/Pince/CoralExpire.java @@ -32,7 +32,7 @@ public class CoralExpire extends Command { } */ pince.aspirecoral(-.5); - bougie.Jaune(); + bougie.Rouge(); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java index d56a9e0..d5df941 100644 --- a/src/main/java/frc/robot/subsystems/Bougie.java +++ b/src/main/java/frc/robot/subsystems/Bougie.java @@ -14,20 +14,46 @@ public class Bougie extends SubsystemBase { CANdle candle = new CANdle(23); CANdleConfiguration config = new CANdleConfiguration(); RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 68); + int led = 16; + int led2 = 8; + boolean x =true; /** Creates a new Bougie. */ public Bougie() { config.brightnessScalar = 0.5; candle.configAllSettings(config); } public void Rouge() { - candle.setLEDs(255, 0, 0,0,8,8); - candle.setLEDs(255, 0, 0,0,24,8); - candle.setLEDs(255, 0, 0,0,40,8); - candle.setLEDs(255, 0, 0,0,56,8); - candle.setLEDs(255, 0, 0,0,72,8); - candle.setLEDs(255, 0, 0,0,88,8); - candle.setLEDs(255, 0, 0,0,104,8); - candle.setLEDs(255, 0, 0,0,120,8); + if(x){ + candle.setLEDs(255, 0, 0,0,led,8); + led++; + candle.setLEDs(0, 0, 0,0,led2,8); + led2++; + System.out.println("led monte"); + System.out.println(led); + if(led>=68){ + x=false; + System.out.println("true"); + System.out.println(x); + } + } + if(!x){ + candle.setLEDs(255, 0, 0,0,led2,8); + led2--; + candle.setLEDs(0, 0, 0,0,led,8); + led--; + System.out.println("leds descendent"); + + if(led==15){ + x=true; + System.out.println("false"); + }} + // candle.setLEDs(255, 0, 0,0,24,8); + // candle.setLEDs(255, 0, 0,0,40,8); + // candle.setLEDs(255, 0, 0,0,56,8); + // candle.setLEDs(255, 0, 0,0,72,8); + // candle.setLEDs(255, 0, 0,0,88,8); + // candle.setLEDs(255, 0, 0,0,104,8); + // candle.setLEDs(255, 0, 0,0,120,8); } public void Vert() { candle.setLEDs(0, 255, 0,0,8,8);