Fall fest fixes

team178 · Oct 22, 2023 · 8eab390 · 8eab390
1 parent c9e219a
commit 8eab390
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Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -139,7 +139,7 @@ private void configureBindings() {
         m_auxBox.leftTrigger().onTrue(m_lights.runDefaultColor());
         m_auxBox.rightTrigger().
             onTrue(
-            Commands.run(() -> {
+            Commands.runOnce(() -> {
                 m_drivetrain.togglePauseMainControl();
                 m_lights.setPauseMainControl(m_drivetrain.getPauseMainControl());
             }));

diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -234,12 +234,15 @@ public void setWheelSpeeds(double leftSpeed, double rightSpeed) {
 
   public Command arcadeDrive(DoubleSupplier forward, DoubleSupplier rot, double deadzone) {
     return this.run(() -> {
-      if(pauseMainControl) return;
       m_speedMult = fastMode ? 1 : (slowMode ? DriveConstants.slowModeMult : DriveConstants.defaultSpeedMult);
       double x = MathUtil.applyDeadband(forward.getAsDouble(), deadzone)
           * (DriveConstants.kMaxSpeedMetersPerSecond * m_speedMult);
       double z = MathUtil.applyDeadband(rot.getAsDouble(), deadzone)
           * (DriveConstants.kMaxRotationSpeedMetersPerSecond * m_speedMult);
+      if(pauseMainControl) {
+        x = 0;
+        z = 0;
+      }
       arcadeDrive(
           x,
           z);

diff --git a/src/main/java/frc/robot/subsystems/Lights.java b/src/main/java/frc/robot/subsystems/Lights.java
@@ -36,7 +36,7 @@ public Lights() {
   @Override
   public void periodic() {
     if(pauseMainControl) {
-      setColor((int) Timer.getFPGATimestamp() % 2 == 0 ? pausedColor : Color.kBlack);
+      setColor((int) (Timer.getFPGATimestamp() * 3) % 2 == 0 ? pausedColor : Color.kBlack);
     } else {
       setColor(color);
     }