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Make the CANDle strobe red when cameras aren't connecting to help the… #421

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Merged
stephenjust merged 1 commit into from
Apr 11, 2026
Merged

Make the CANDle strobe red when cameras aren't connecting to help the… #421

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10 changes: 8 additions & 2 deletions src/main/java/competition/subsystems/lights/LightsSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
import competition.electrical_contract.ElectricalContract;
import competition.subsystems.hood.HoodSubsystem;
import competition.subsystems.intake_deploy.IntakeDeploySubsystem;
import competition.subsystems.vision.AprilTagVisionSubsystemExtended;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.util.Color;
import xbot.common.command.BaseSubsystem;
Expand All @@ -24,19 +25,22 @@ public class LightsSubsystem extends BaseSubsystem {
public HoodSubsystem hoodSubsystem;
public VoltageMonitorSubsystem voltageMonitor;
public RobotAssertionManager assertionManager;
public final AprilTagVisionSubsystemExtended vision;

@Inject
public LightsSubsystem(XCANLightController.XCANLightControllerFactory lightsFactory,
ElectricalContract electricalContract,
IntakeDeploySubsystem intakeDeploy,
HoodSubsystem hoodSubsystem,
VoltageMonitorSubsystem voltageMonitor,
RobotAssertionManager assertionManager
RobotAssertionManager assertionManager,
AprilTagVisionSubsystemExtended vision
) {
this.intakeDeploy = intakeDeploy;
this.hoodSubsystem = hoodSubsystem;
this.voltageMonitor = voltageMonitor;
this.assertionManager = assertionManager;
this.vision = vision;
if (electricalContract.isLightsReady()) {
this.lights = lightsFactory.create(
electricalContract.getLightControllerInfo()
Expand All @@ -53,7 +57,9 @@ public void periodic() {
return;
}

if (intakeDeploy.isCalibrated && DriverStation.isAutonomous() && voltageMonitor.isAtUnhealthyVoltage()) {
if (DriverStation.isDisabled() && !vision.areAllCamerasConnected()) {
lights.strobe(0, Hertz.of(1), Color.kRed);
} else if (intakeDeploy.isCalibrated && DriverStation.isAutonomous() && voltageMonitor.isAtUnhealthyVoltage()) {
lights.larson(0, Hertz.of(25), Color.kDodgerBlue, LarsonBounceValue.Back);
} else if (intakeDeploy.isCalibrated && DriverStation.isTeleop() && voltageMonitor.isAtUnhealthyVoltage()) {
lights.larson(0, Hertz.of(25), Color.kGreen, LarsonBounceValue.Back);
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