feat: working limelight colorClass

FRC3636 · Dec 4, 2024 · ee6076a · ee6076a
1 parent 1a53e98
commit ee6076a
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Showing 2 changed files with 11 additions and 6 deletions.
diff --git a/build.gradle.kts b/build.gradle.kts
@@ -68,12 +68,15 @@ deploy {
             // or from command line. If not found an exception will be thrown.
             team = frc.getTeamOrDefault(3636)
             debug = frc.getDebugOrDefault(false)
+
+
         }
 
         roborio.artifacts {
             register<FRCJavaArtifact>("frcJava") {
                 jvmArgs.add("-ea") // Remove this flag during comp to disable asserts
                 setJarTask(tasks.jar)
+                dependsOn(tasks.assemble)
             }
 
             register<FileTreeArtifact>("frcStaticFileDeploy") {

diff --git a/src/main/kotlin/com/frcteam3636/frc2024/subsystems/indexer/IndexerIO.kt b/src/main/kotlin/com/frcteam3636/frc2024/subsystems/indexer/IndexerIO.kt
@@ -52,12 +52,14 @@ class IndexerIOReal : IndexerIO{
         inputs.indexerCurrent = Amps.of(indexerMotor.outputCurrent)
         inputs.position = Rotations.of(indexerMotor.encoder.position)
 
-        when (val colorClass = LimelightHelpers.getClassifierClass("limelight-sensor")) {
-            RED_CLASS -> inputs.balloonState = BalloonState.Red
-            BLUE_CLASS -> inputs.balloonState = BalloonState.Blue
-            NONE_CLASS -> inputs.balloonState = BalloonState.None
-            else -> throw AssertionError("Unknown balloon class: $colorClass")
-        }
+        val colorClass = LimelightHelpers.getClassifierClass("limelight")
+            inputs.balloonState = if (colorClass.contains(RED_CLASS)) { // "0 red"
+                BalloonState.Red
+            } else if (colorClass.contains(BLUE_CLASS)) { // "1 blue"
+                BalloonState.Blue
+            } else { // ""
+                BalloonState.None
+            }
     }
 
     override fun setSpinSpeed(speed: Double) {