From f9983c6f71af186007482388f4d0c0d777dd8921 Mon Sep 17 00:00:00 2001
From: "Team 3128: Controls"
 <35188310+ControlsNarwhal@users.noreply.github.com>
Date: Thu, 14 Dec 2023 19:57:43 -0800
Subject: [PATCH] Workshop 12/14

---
 src/main/java/frc/team3128/Constants.java              | 8 ++++----
 src/main/java/frc/team3128/subsystems/Leds.java        | 6 ++++--
 src/main/java/frc/team3128/subsystems/Manipulator.java | 2 +-
 3 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc/team3128/Constants.java b/src/main/java/frc/team3128/Constants.java
index ada6d15..2060078 100644
--- a/src/main/java/frc/team3128/Constants.java
+++ b/src/main/java/frc/team3128/Constants.java
@@ -339,13 +339,13 @@ public static Rotation2d flipRotation(Rotation2d rotation) {
 
     public static class WristConstants {
 
-        public static final double kP = 0.4;
+        public static final double kP = 0.6;//0.4;
         public static final double kI = 0;
         public static final double kD = 0;
 
-        public static final double kS = 0.19;
+        public static final double kS = 0.21;//0.19;
         public static final double kV = 0;
-        public static final double kG = 0.2;
+        public static final double kG = 0.33;//0.2;
 
         public static final double GEAR_RATIO = 76.235; //72,3
 
@@ -377,7 +377,7 @@ public static class ElevatorConstants {
         public static final int ELV1_ID = 11;
         public static final int ELV2_ID = 12;
 
-        public static final double kP = 1;
+        public static final double kP = 2.4;
         public static final double kI = 0;
         public static final double kD = 0;
 
diff --git a/src/main/java/frc/team3128/subsystems/Leds.java b/src/main/java/frc/team3128/subsystems/Leds.java
index 0b4c8c3..13fc659 100644
--- a/src/main/java/frc/team3128/subsystems/Leds.java
+++ b/src/main/java/frc/team3128/subsystems/Leds.java
@@ -66,8 +66,10 @@ public void setElevatorLeds(Colors color) {
                 m_candle.animate(new SingleFadeAnimation(color.r, color.g, color.b,LedConstants.WHITE_VALUE,LedConstants.HOLDING_SPEED,LedConstants.PIVOT_COUNT),0);
                 break;
             default :
-                resetAnimationSlot(2);
-                m_candle.setLEDs(color.r,color.g,color.b,LedConstants.WHITE_VALUE,LedConstants.STARTING_ID,LedConstants.PIVOT_COUNT);
+                m_candle.animate(new RainbowAnimation(LedConstants.RainbowAnimation.BRIGHTNESS,LedConstants.RainbowAnimation.SPEED,LedConstants.PIVOT_COUNT_FRONT,false,LedConstants.STARTING_ID),0);
+                m_candle.animate(new RainbowAnimation(LedConstants.RainbowAnimation.BRIGHTNESS,LedConstants.RainbowAnimation.SPEED,LedConstants.PIVOT_COUNT_BACK,true,LedConstants.STARTING_ID+LedConstants.PIVOT_COUNT_FRONT),1);
+                // resetAnimationSlot(2);
+                // m_candle.setLEDs(color.r,color.g,color.b,LedConstants.WHITE_VALUE,LedConstants.STARTING_ID,LedConstants.PIVOT_COUNT);
                 break;
         }
     }
diff --git a/src/main/java/frc/team3128/subsystems/Manipulator.java b/src/main/java/frc/team3128/subsystems/Manipulator.java
index dccbd2b..b2ef096 100644
--- a/src/main/java/frc/team3128/subsystems/Manipulator.java
+++ b/src/main/java/frc/team3128/subsystems/Manipulator.java
@@ -28,7 +28,7 @@ public Manipulator(){
     }
     private void configMotor(){
         m_roller = new NAR_TalonSRX(ROLLER_MOTOR_ID);
-        m_roller.setInverted(false);
+        m_roller.setInverted(true);
         m_roller.setNeutralMode(NeutralMode.Brake);
     }