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Create UNSET enum #29

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Create UNSET enum #29

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3 changes: 2 additions & 1 deletion src/main/java/frc/robot/common/ControlPanelColorSensor.java
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Expand Up @@ -12,7 +12,8 @@ public static enum ControlPanelColor {
RED(new Color(0.325, 0.453, 0.221)),
GREEN(new Color(0.269, 0.550, 0.181)),
BLUE(new Color(0.175, 0.469, 0.356)),
YELLOW(new Color(0.188, 0.503, 0.310));
YELLOW(new Color(0.188, 0.503, 0.310)),
UNSET(null);
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I would actually make this UNKNOWN rather than UNSET because without context, if a color isn't one of those it's uknown. Only in the context of the driverstation sending a color is it unset. It'll also make sense if you return UNKNOWN when the confidence for the color matcher is low, whereas UNSET wouldn't make as much sense in that context

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And I think you should give it a default value of either 0,0,0 or 1,1,1. Setting null will cause an NPE when the color matcher tries to match to it.


private Color color;

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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/ControlPanelSubsystem.java
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Expand Up @@ -23,7 +23,7 @@ public class ControlPanelSubsystem extends SubsystemBase {
private WPI_VictorSPX cpMotor = new WPI_VictorSPX(CONTROL_PANEL_MOTOR);
private ControlPanelColorSensor colorSensor = new ControlPanelColorSensor(Port.kOnboard);
private DriverStation ds = DriverStation.getInstance();
private ControlPanelColor turnToColor;
private ControlPanelColor turnToColor = ControlPanelColor.UNSET;

public void spin(double speed) {
cpMotor.set(ControlMode.PercentOutput, speed);
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