some (hopefully) final tweaks

ive been working on this for 2 1/2 hours i need sleep
frc937 · Apr 1, 2024 · 8192c19 · 8192c19
1 parent 03f7409
commit 8192c19
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -251,6 +251,8 @@ public static final class Colors {
       /** The color for the lights when the robot is disabled. */
       public static final Color DISABLED_COLOR = Color.fromHSV(15, 255, 100);
 
+      public static final Color BOOT_SEQUENCE_PULSE_COLOR = Color.fromHSV(0, 0, 255);
+
       public static final Color ENABLE_COLOR_NO_ALLIANCE = Color.fromHSV(137, 255, 200);
 
       public static final Color ENABLE_COLOR_BLUE_ALLIANCE = Color.fromHSV(120, 255, 200);

diff --git a/src/main/java/frc/robot/commands/lightstrip/DisabledLights.java b/src/main/java/frc/robot/commands/lightstrip/DisabledLights.java
@@ -36,6 +36,8 @@ public void initialize() {
     if (!firstStart) {
       robotLights.setStripColor(Constants.LightStrips.Colors.DISABLED_COLOR);
       robotLights.flush();
+    } else {
+      robotLights.setFadeSpeed(0.01);
     }
     robotLights.startLights();
   }
@@ -52,7 +54,7 @@ public void execute() {
       robotLights.flush();
       if ((rainbowTick >= robotLights.getLength() * 2)) {
         firstStart = false;
-        robotLights.setStripColorRaw(Color.kGhostWhite);
+        robotLights.setStripColorRaw(Constants.LightStrips.Colors.BOOT_SEQUENCE_PULSE_COLOR);
         robotLights.setStripColor(Constants.LightStrips.Colors.DISABLED_COLOR);
       }
       ledCount = Math.min(ledCount + 1, robotLights.getLength());
@@ -63,6 +65,7 @@ public void execute() {
   @Override
   public void end(boolean interrupted) {
     firstStart = false;
+    robotLights.resetFadeSpeed();
   }
 
   @Override