adding on the controller

FRC5881 · Dec 4, 2023 · 36818fd · 36818fd
1 parent 91186ae
commit 36818fd
Showing 1 changed file with 9 additions and 5 deletions.
diff --git a/src/main/java/org/tvhsfrc/frc2023/robot/RobotContainer.java b/src/main/java/org/tvhsfrc/frc2023/robot/RobotContainer.java
@@ -86,11 +86,15 @@ private void configureBindings() {
         // ------ Driving ------ //
         controller.touchpad().onTrue(new InstantCommand(swerve::zeroGyro));
 
-        CommandBase cSetRainbow = Commands.runOnce(() -> leds.setState(Colors.RAINBOW), leds);
-        CommandBase cSetGreen = Commands.runOnce(() -> leds.setState(Colors.GREEN), leds);
-        CommandBase cSetBlue = Commands.runOnce(() -> leds.setState(Colors.BLUE), leds);
-        CommandBase cSetOff = Commands.runOnce(() -> leds.setState(Colors.OFF), leds);
-
+        CommandBase cSetRainbow = Commands.runOnce(() -> leds.setState(Colors.RAINBOW), leds).ignoringDisable(true);
+        CommandBase cSetGreen = Commands.runOnce(() -> leds.setState(Colors.GREEN), leds).ignoringDisable(true);
+        CommandBase cSetBlue = Commands.runOnce(() -> leds.setState(Colors.BLUE), leds).ignoringDisable(true);
+        CommandBase cSetOff = Commands.runOnce(() -> leds.setState(Colors.OFF), leds).ignoringDisable(true);
+
+        controller.povDown().onTrue(cSetOff);
+        controller.povLeft().onTrue(cSetGreen);
+        controller.povRight().onTrue(cSetBlue);
+        controller.povUp().onTrue(cSetRainbow);
 
         RelativeRelativeDrive drive =
                 new RelativeRelativeDrive(