From ee6076a14b7e13d05d4a594b770ee90f9215e3c3 Mon Sep 17 00:00:00 2001
From: doinkythederp <doinkythederp@icloud.com>
Date: Tue, 3 Dec 2024 18:02:41 -0800
Subject: [PATCH] feat: working limelight colorClass

---
 build.gradle.kts                                   |  3 +++
 .../frc2024/subsystems/indexer/IndexerIO.kt        | 14 ++++++++------
 2 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/build.gradle.kts b/build.gradle.kts
index ce652e2..66b3c0d 100644
--- 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
index f5c2f2d..21ef8a4 100644
--- 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) {