Better led -> master

src/main/java/edu/greenblitz/tobyDetermined/Robot.java

@@ -44,7 +44,6 @@ public void robotInit() {
 		SwerveChassis.getInstance().resetAllEncoders();
 //		SwerveChassis.getInstance().resetEncodersByCalibrationRod();
 
-
 	}
 
 	@Override
@@ -64,7 +63,7 @@ private static void initSubsystems() {
 		IntakeExtender.init();
 		IntakeRoller.init();
 		OI.init();
-
+		LED.init();
 		initToggleAbleSubsystems();
 	}
 
@@ -100,6 +99,7 @@ public void robotPeriodic() {
 	@Override
 	public void disabledInit() {
 		CommandScheduler.getInstance().cancelAll();
+		LED.getInstance().turnOff();
 	}
 
 
@@ -170,26 +170,25 @@ public void disabledPeriodic() {
 //			LED.getInstance().setColor(Color.kGreen);
 //		}
 
-		BreakCoastSwitch.getInstance().toggleBreakCoast();
+		if(Extender.getInstance().DidReset()){
+			LED.getInstance().setColor(Color.kGreen, RobotMap.LED.Sections.ARM_ENCODER_BROKEN);
+		}else{
+			LED.getInstance().setColor(Color.kRed, RobotMap.LED.Sections.ARM_ENCODER_BROKEN);
+		}
 
-		if (SwerveChassis.getInstance().isEncoderBroken()){
-			if (Extender.getInstance().DidReset()){
-				LED.getInstance().setColor(new Color(136, 8 ,90)); //dark red
-			} else {
-				LED.getInstance().setColor(Color.kRed);
-			}
-
-		} else if (!Extender.getInstance().DidReset()){
-			LED.getInstance().setColor(Color.kOrangeRed);
-		} else {
-			LED.getInstance().setColor(Color.kGreen);
+		if(SwerveChassis.getInstance().isEncoderBroken()){
+			LED.getInstance().setColor(Color.kRed, RobotMap.LED.Sections.SWERVE_ENCODER_BROKEN);
+		}else{
+			LED.getInstance().setColor(Color.kGreen, RobotMap.LED.Sections.SWERVE_ENCODER_BROKEN);
 		}
+
 
 		if(Extender.getInstance().getLimitSwitch()){
 			if (Extender.getInstance().getLength() > 0 || !Extender.getInstance().DidReset()) {
 				Extender.getInstance().resetLength();
 			}
 		}
+
 		SwerveChassis.getInstance().isEncoderBroken();
 		Elbow.getInstance().resetEncoder();
 	}

src/main/java/edu/greenblitz/tobyDetermined/commands/rotatingBelly/rotateAutomation/FullAlign.java

@@ -5,8 +5,6 @@
 import edu.greenblitz.tobyDetermined.commands.rotatingBelly.RotateOutDoorDirection;
 import edu.greenblitz.tobyDetermined.subsystems.LED;
 import edu.greenblitz.tobyDetermined.subsystems.RotatingBelly.RotatingBelly;
-import edu.greenblitz.tobyDetermined.subsystems.telescopicArm.ObjectSelector;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.*;
 
@@ -26,7 +24,7 @@ public FullAlign(){
                         new RotateOutDoorDirection().until(()-> RotatingBelly.getInstance().isLimitSwitchPressed()),
                         new RotateOutDoorDirection().raceWith(new WaitCommand(EXTRA_TIME)),
 
-                        new InstantCommand(()-> LED.getInstance().setColor(Color.kOrchid))
+                        new InstantCommand(()-> LED.getInstance().setColor(Color.kOrchid, RobotMap.LED.Sections.ALL))
                 ).raceWith(new WaitCommand(FINAL_TIME)));
     }
 

src/main/java/edu/greenblitz/tobyDetermined/commands/telescopicArm/extender/ResetExtender.java

@@ -36,6 +36,6 @@ public void end(boolean interrupted) {
 		super.end(interrupted);
 		extender.resetLength();
 		extender.stop();
-		LED.getInstance().setColor(Color.kGreen);
+		LED.getInstance().setColor(Color.kGreen, RobotMap.LED.Sections.ALL);
 	}
 }

src/main/java/edu/greenblitz/tobyDetermined/subsystems/LED.java

@@ -3,7 +3,6 @@
 import edu.greenblitz.tobyDetermined.RobotMap;
 import edu.wpi.first.wpilibj.AddressableLED;
 import edu.wpi.first.wpilibj.AddressableLEDBuffer;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.util.Color;
 
 public class LED extends GBSubsystem {
@@ -31,45 +30,55 @@ public static void init(){
         }
     }
 
-    public void setColor(Color color) {
-        for (int i = 0; i < this.ledBuffer.getLength(); i++) {
-            this.ledBuffer.setLED(i, color);
-            SmartDashboard.putNumber("led num", i);
-        }
-        this.addressableLED.setData(ledBuffer);
+
+    public void setColor (Color color){
+        setColor(color, RobotMap.LED.Sections.ALL);
     }
-    public void setColor(int i, Color color) {
-        this.ledBuffer.setLED(i, color);
-        this.addressableLED.setData(ledBuffer);
+    public void setColor(Color color, int index) {
+        this.ledBuffer.setLED(index, color);
     }
 
+    public void setColor ( Color color,int startIndex,int endIndex){
+        for (int i = startIndex; i < endIndex; i++) {
+            setColor(color,i);
+        }
+    }
+
+    public void setColor (Color color, RobotMap.LED.Sections section){
+        setColor(color,section.start,section.end);
+    }
 
     public void turnOff (){
-        setColor(new Color(0,0,0));
+        setColor(new Color(0,0,0),RobotMap.LED.Sections.ALL);
     }
 
     public void turnOff (int index){
-        setColor(index,new Color(0,0,0));
+        setColor(new Color(0,0,0),index);
     }
-    public void turnoff (int startIndex,int endIndex){
+    public void turnOff (int startIndex,int endIndex){
         for (int i = startIndex; i < endIndex; i++) {
-            setColor(i,new Color(0,0,0));
+            turnOff(i);
         }
     }
+    public void turnOff (RobotMap.LED.Sections section){
+        turnOff(section.start,section.end);
+    }
 
 
 
     public void setHSV(int h, int s, int v) {
         for (int i = 0; i < this.ledBuffer.getLength(); i++) {
             this.ledBuffer.setHSV(i, h, s, v);
         }
-        this.addressableLED.setData(ledBuffer);
     }
 
 
     public void setHSV(int index, int h, int s, int v) {
         this.ledBuffer.setHSV(index, h, s, v);
-        this.addressableLED.setData(ledBuffer);
     }
 
+    @Override
+    public void periodic() {
+        this.addressableLED.setData(ledBuffer);
+    }
 }

src/main/java/edu/greenblitz/tobyDetermined/subsystems/telescopicArm/ObjectSelector.java

@@ -1,5 +1,6 @@
 package edu.greenblitz.tobyDetermined.subsystems.telescopicArm;
 
+import edu.greenblitz.tobyDetermined.RobotMap;
 import edu.greenblitz.tobyDetermined.subsystems.LED;
 import edu.wpi.first.wpilibj.util.Color;
 
@@ -8,13 +9,13 @@ public class ObjectSelector {
 
 	public static void selectCone(){
 		isCone = true;
-		LED.getInstance().setColor(Color.kYellow);
+		LED.getInstance().setColor(Color.kYellow, RobotMap.LED.Sections.ALL);
 		Claw.getInstance().coneCatchMode();
 	}
 
 	public static void selectCube(){
 		isCone = false;
-		LED.getInstance().setColor(Color.kMagenta);
+		LED.getInstance().setColor(Color.kYellow, RobotMap.LED.Sections.ALL);
 		Claw.getInstance().cubeCatchMode();
 	}