Fall fest changes to be tested

src/main/java/frc/robot/Constants.java

@@ -33,6 +33,7 @@ public static class FieldConstants {
   public static class OperatorConstants {
     public static final int kDriverControllerPort = 0;
     public static final int kAuxControllerPort = 1;
+    public static final int kAltDriverControlPort = 2;
   }
 
   public static class DriveConstants {

src/main/java/frc/robot/RobotContainer.java

@@ -53,6 +53,9 @@ public class RobotContainer {
     private final CommandXboxController m_auxBox =
         new CommandXboxController(OperatorConstants.kAuxControllerPort);
 
+    private final CommandXboxController m_altDriverController =
+        new CommandXboxController(OperatorConstants.kAltDriverControlPort);
+
     private final Field2d m_autoPreview = new Field2d();
 
     /** The container for the robot. Contains subsystems, OI devices, and commands. */
@@ -135,10 +138,11 @@ private void configureBindings() {
         m_auxBox.rightStick().onTrue(m_lights.runPurple());
         m_auxBox.leftTrigger().onTrue(m_lights.runDefaultColor());
         m_auxBox.rightTrigger().
-        whileTrue(
-            Commands.run(() -> m_drivetrain.setPauseMainControl(true)))
-        .whileFalse(
-            Commands.run(() -> m_drivetrain.setPauseMainControl(false)));
+            onTrue(
+            Commands.run(() -> {
+                m_drivetrain.togglePauseMainControl();
+                m_lights.setPauseMainControl(m_drivetrain.getPauseMainControl());
+            }));
 
         // new Combo(m_auxBox.getHID())
         //     .quarterCircleKick()

src/main/java/frc/robot/subsystems/Drivetrain.java

@@ -289,6 +289,10 @@ public Command cheesyDrive(DoubleSupplier forward, DoubleSupplier rot, Trigger q
     });
   }
 
+  public boolean getPauseMainControl() {
+    return pauseMainControl;
+  }
+
   public void setSlowMode(boolean slowMode) {
       this.slowMode = slowMode;
   }
@@ -301,6 +305,10 @@ public void setPauseMainControl(boolean pauseMainControl) {
       this.pauseMainControl = pauseMainControl;
   }
 
+  public void togglePauseMainControl() {
+    pauseMainControl = !pauseMainControl;
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

src/main/java/frc/robot/subsystems/Lights.java

@@ -3,6 +3,7 @@
 import edu.wpi.first.wpilibj.AddressableLED;
 import edu.wpi.first.wpilibj.AddressableLEDBuffer;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -16,6 +17,8 @@ public class Lights extends SubsystemBase {
   private AddressableLED m_lightBar;
 
   private Color color = new Color(0, 0, 0);
+  private final Color pausedColor = new Color(255, 125, 0);
+  private boolean pauseMainControl = false;
 
   public Lights() {
     initBar();
@@ -32,7 +35,11 @@ public Lights() {
 
   @Override
   public void periodic() {
-    setColor(color);
+    if(pauseMainControl) {
+      setColor((int) Timer.getFPGATimestamp() % 2 == 0 ? pausedColor : Color.kBlack);
+    } else {
+      setColor(color);
+    }
     m_lightBar.setData(m_lightBarBuffer);
   }
 
@@ -82,4 +89,8 @@ public Command runYellow() {
   public Command runPurple() {
     return run(() -> purple());
   }
+
+  public void setPauseMainControl(boolean pauseMainControl) {
+      this.pauseMainControl = pauseMainControl;
+  }
 }