BlingEnums

src/main/java/frc/robot/auto/AutoRoutines.java

@@ -37,6 +37,7 @@
 import frc.robot.commands.ForceBrakesInAuto;
 import frc.robot.commands.GripperCommand;
 import frc.robot.commands.GripperCommand.GRIPPER_INSTRUCTION;
+import frc.robot.commands.SetBlingCommand.BLING_COLOUR;
 import frc.robot.commands.SetBlingCommand;
 import frc.robot.commands.TranslationCommand;
 import frc.robot.config.ArmConfig.ArmSetpoint;
@@ -94,10 +95,10 @@ public AutoRoutines() {
         Map<String, Command> eventMap = new HashMap<String, Command>();
 
         eventMap.put("intake", new InstantCommand());
-        eventMap.put("Bling Purple", new SetBlingCommand(1));
-        eventMap.put("Bling Blue", new SetBlingCommand(2));
-        eventMap.put("Bling Red", new SetBlingCommand(3));
-        eventMap.put("Bling Honeydew", new SetBlingCommand(4));
+        eventMap.put("Bling Purple", new SetBlingCommand(BLING_COLOUR.PURPLE));
+        eventMap.put("Bling Blue", new SetBlingCommand(BLING_COLOUR.BLUE));
+        eventMap.put("Bling Red", new SetBlingCommand(BLING_COLOUR.RED));
+        eventMap.put("Bling Honeydew", new SetBlingCommand(BLING_COLOUR.HONEYDEW));
         eventMap.put("charge", new TranslationCommand(-1.9, 0).andThen(
             Commands.run(() -> SwerveSubsystem.getInstance().setModuleStatesAuto(new SwerveModuleState[]{
                 new SwerveModuleState(0.1, Rotation2d.fromDegrees(-45)),

src/main/java/frc/robot/commands/DriveArmAgainstBackstop.java

@@ -9,6 +9,7 @@
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.commands.SetBlingCommand.BLING_COLOUR;
 import frc.robot.subsystems.ArmSubsystem;
 import frc.robot.subsystems.BlingSubsystem;
 
@@ -55,9 +56,9 @@ public void end(boolean interrupted) {
         ArmSubsystem.getInstance().stopMotors();
 
         new SequentialCommandGroup(
-            new SetBlingCommand(13),
+            new SetBlingCommand(BLING_COLOUR.PURPLESTROBE),
             (new WaitCommand(2)),
-            (new SetBlingCommand(0))
+            (new SetBlingCommand(BLING_COLOUR.DISABLED))
         ).schedule();
     }
 

src/main/java/frc/robot/commands/SetBlingCommand.java

@@ -17,12 +17,29 @@
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 
 public class SetBlingCommand extends InstantCommand {
-  public int m_blingPatternId;
+  public enum BLING_COLOUR
+  {
+    DISABLED,
+    PURPLE,
+    BLUE,
+    RED,
+    YELLOW,
+    HONEYDEW,
+    RAINBOW,
+    FIRE,
+    RGBFADE,
+    WHITESTROBE,
+    REDSTROBE,
+    YELLOWSTROBE,
+    BLUESTROBE,
+    PURPLESTROBE
+  } 
+  public BLING_COLOUR m_blingPatternId;
   public BlingSubsystem bling = BlingSubsystem.getINSTANCE();
-
-  public SetBlingCommand(int patternId) {
+  public SetBlingCommand(BLING_COLOUR patternId) {
     m_blingPatternId = patternId;
 
+
     // Use addRequirements() here to declare subsystem dependencies.
     if( bling != null )
       addRequirements(bling);
@@ -34,51 +51,51 @@ public SetBlingCommand(int patternId) {
   public void initialize() {
     if (bling != null)
     {
-      if (m_blingPatternId!= 0) {
+      if (m_blingPatternId != BLING_COLOUR.DISABLED) {
         bling.setBrightness();
       }
       switch( m_blingPatternId )
       {
-        case 0:
+        case DISABLED:
           bling.setDisabled();
           break;
-        case 1:
+        case PURPLE:
           bling.setPurple();
           break;
-        case 2:
+        case BLUE:
           bling.setBlue();
           break;
-        case 3:
+        case RED:
           bling.setRed();
           break;
-        case 4:
+        case YELLOW:
           bling.setYellow();
           break;
-        case 5:
+        case HONEYDEW:
           bling.setHoneydew();
           break;
-        case 6: 
+        case RAINBOW: 
           setRainbow();
           break;
-        case 7: 
+        case FIRE: 
           setFire();
           break;
-        case 8:
+        case RGBFADE:
           setRgbFade();
           break;
-        case 9:
+        case WHITESTROBE:
           setWhiteStrobe();
           break;
-        case 10:
+        case REDSTROBE:
           setRedStrobe();
           break;
-        case 11:
+        case YELLOWSTROBE:
           setYellowStrobe();
           break;
-        case 12:
+        case BLUESTROBE:
           setBlueStrobe();
           break;
-        case 13:
+        case PURPLESTROBE:
           setPurpleStrobe();
           break;
         default:

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

@@ -7,6 +7,7 @@
 
 package frc.robot.subsystems;
 import frc.robot.commands.SetBlingCommand;
+import frc.robot.commands.SetBlingCommand.BLING_COLOUR;
 import frc.robot.config.Config;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -105,18 +106,18 @@ public void noEncodersSynced() {
   public void armEncodersSynced() {
     armEncodersSynced = true;
     if (steerEncodersSynced) {
-      new SetBlingCommand(1).schedule(); // purple
+      new SetBlingCommand(BLING_COLOUR.PURPLE).schedule(); // purple
     } else {
-      new SetBlingCommand(2).schedule(); // blue
+      new SetBlingCommand(BLING_COLOUR.BLUE).schedule(); // blue
     }
   }
 
   public void steerEncodersSynced() {
     steerEncodersSynced = true;
     if (armEncodersSynced) {
-      new SetBlingCommand(1).schedule(); // purple
+      new SetBlingCommand(BLING_COLOUR.PURPLE).schedule(); // purple
     } else {
-      new SetBlingCommand(4).schedule(); // yellow
+      new SetBlingCommand(BLING_COLOUR.YELLOW).schedule(); // yellow
     }
   }