working on it

.devcontainer/devcontainer.json

@@ -0,0 +1,28 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/java
+{
+	"name": "Java",
+	// Or use a Dockerfile or Docker Compose file. More info: https://containers.dev/guide/dockerfile
+	"image": "mcr.microsoft.com/devcontainers/java:1-17-bookworm",
+
+	"features": {
+		"ghcr.io/devcontainers/features/java:1": {
+			"version": "none",
+			"installMaven": "false",
+			"installGradle": "true"
+		},
+		"ghcr.io/devcontainers-extra/features/kotlin-sdkman:2": {}
+	}
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Use 'postCreateCommand' to run commands after the container is created.
+	// "postCreateCommand": "java -version",
+
+	// Configure tool-specific properties.
+	// "customizations": {},
+
+	// Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
+	// "remoteUser": "root"
+}

.github/dependabot.yml

@@ -0,0 +1,12 @@
+# To get started with Dependabot version updates, you'll need to specify which
+# package ecosystems to update and where the package manifests are located.
+# Please see the documentation for more information:
+# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates
+# https://containers.dev/guide/dependabot
+
+version: 2
+updates:
+ - package-ecosystem: "devcontainers"
+   directory: "/"
+   schedule:
+     interval: weekly

src/main/java/com/frcteam3636/frc2024/subsystems/indexer/IndexerIO.kt

@@ -3,29 +3,37 @@ package com.frcteam3636.frc2024.subsystems.indexer
 import edu.wpi.first.math.geometry.Rotation2d
 import org.littletonrobotics.junction.LogTable
 import org.littletonrobotics.junction.inputs.LoggableInputs
+import com.frcteam3636.frc2024.CANSparkFlex
+import com.frcteam3636.frc2024.REVMotorControllerId
+import com.revrobotics.CANSparkLowLevel
+import kotlin.doubleArrayOf
+import edu.wpi.first.wpilibj.util.Color
+import edu.wpi.first.wpilibj.
+
 
 interface IndexerIO{
     class IndexerInputs : LoggableInputs {
         var indexerVelocity = Rotation2d()
         var indexerCurrent: Double = 0.0
         var isSpinningBalloon: Boolean = false
         var hasBalloon: Boolean = false
-        var balloonColor = null
+        var balloonColor: Color = Color.kblack
 
         override fun toLog(table: LogTable?) {
             table?.put("Indexer Wheel Velocity", indexerVelocity)
             table?.put("Indexer Wheel Current", indexerCurrent)
             table?.put("Is spinning", isSpinningBalloon)
             table?.put("Has balloon", hasBalloon)
-            table?.put("Balloon Color", balloonColor)
+            table?.put("Balloon Color", doubleArrayOf(balloonColor.red, balloonColor.green, balloonColor.blue))
         }
 
         override fun fromLog(table: LogTable) {
             indexerVelocity = table.get("Indexer Velocity", indexerVelocity)!![0]
             indexerCurrent = table.get("Indexer Wheel Current", indexerCurrent)
             isSpinningBalloon = table.get("Is spinning", isSpinningBalloon)
             hasBalloon = table.get("Has balloon", hasBalloon)
-            balloonColor = table.get("Balloon Color", balloonColor)
+            val balloonColorArray: DoubleArray = table.get("Balloon Color", doubleArrayOf(balloonColor.red, balloonColor.green, balloonColor.blue))
+            balloonColor = Color(balloonColorArray[0], balloonColorArray[1], balloonColorArray[2])
         }
     }
     fun updateInputs(inputs: IndexerInputs)
@@ -41,22 +49,24 @@ class IndexerIOReal: IndexerIO{
             CANSparkLowLevel.MotorType.kBrushless
         )
 
-    private var colorSensor: DigitalInput = DigitalInput(COLOR_SENSOR_PORT)
+    private val colorSensorDistance = NetworkTables.getEntry("/proximity1")
+
+    private val colorSensorColor = NetworkTables.getEntry("/rawcolor1")
 
     override fun updateInputs(inputs: IndexerIO.IndexerInputs) {
         inputs.indexerVelocity = Rotation2d(indexerWheel.encoder.velocity)
         inputs.indexerCurrent = indexerWheel.outputCurrent
         inputs.isSpinningBalloon = colorSensor.get()
-        inputs.hasBalloon = colorSensor.get()
-        inputs.balloonColor = colorSensor.get()
+        inputs.hasBalloon = colorSensorDistance.getValue() > 1000
+        inputs.balloonColor = colorSensorColor.getValue()
     }
 
     override fun setSpinSpeed(speed: Double) {
         indexerWheel.set(speed)
     }
 
     internal companion object Constants {
-        const val COLOR_SENSOR_PORT = 0
+        const val COLOR_SENSOR_PORT = i2cPort
         const val RED_BALLOON_COLOR = (255, 0, 0)
         const val BLUE_BALLOON_COLOR = (0, 0, 255)
     }