Make Morse code fun again

components/led.py

@@ -87,7 +87,17 @@ def climbing_arm_retracted(self) -> None:
  self.high_priority_pattern = None
 
  def morse(self) -> None:
- self.pattern = Morse(HsvColour.ORANGE)
+ match wpilib.DriverStation.getAlliance():
+ case wpilib.DriverStation.Alliance.kBlue:
+ colour = HsvColour.BLUE
+ case wpilib.DriverStation.Alliance.kRed:
+ colour = HsvColour.RED
+ case _:
+ colour = HsvColour.ORANGE
+ if isinstance(self.pattern, Morse):
+ self.pattern.colour = colour
+ else:
+ self.pattern = Morse(colour)
 
  def rainbow(self) -> None:
  self.pattern = Rainbow(HsvColour.RED)
@@ -173,7 +183,6 @@ class Morse(TimeBasedPattern):
  MESSAGES = (
  "KILL ALL HUMANS",
  "MORSE CODE IS FOR NERDS",
- "HONEYBADGER DONT CARE",
  "GLHF",
  "I HATE MORSE CODE",
  )
@@ -221,16 +230,20 @@ class Morse(TimeBasedPattern):
 
  def __post_init__(self) -> None:
  self.pick_new_message()
+ self.start_clock()
+
+ def start_clock(self) -> None:
+ self.start_time = self.clock()
 
  def elapsed_time(self) -> float:
  return self.clock() - self.start_time
 
  def update(self) -> Hsv:
  elapsed_time = self.elapsed_time()
 
- # End of the message. Pick new one
  if elapsed_time > self.message_time:
- self.pick_new_message()
+ # End of message, repeat the message
+ self.start_clock()
  return HsvColour.OFF.value
 
  # TODO Might be better to store current token index and time?
@@ -255,7 +268,6 @@ def update(self) -> Hsv:
 
  def pick_new_message(self) -> None:
  # QUESTION? Should functions take args or assume previous step already done
- self.start_time = self.clock() # Reset the time of the pattern
  self.message = self.random_message()
  self.morse_message = self.translate_message(self.message)
  self.message_length = self.calculate_message_length(self.morse_message)
@@ -268,16 +280,16 @@ def random_message(self) -> str:
  @classmethod
  def translate_message(cls, message: str) -> str:
  message = message.upper()
- morse_message = ""
+ morse_message = []
  for letter in message:
  if letter == " ":
- morse_message += " "
+ morse_message.append("")
  continue
- morse_message += cls.MORSE_TRANSLATION[letter] + " "
+ morse_message.append(cls.MORSE_TRANSLATION[letter])
 
  # Add some space at end of message
- morse_message += "  "
- return morse_message
+ morse_message.append(" ")
+ return " ".join(morse_message)
 
  @classmethod
  def calculate_message_length(cls, morse_message: str) -> int:

robot.py

@@ -198,7 +198,6 @@ def disabledPeriodic(self) -> None:
  self.chassis.update_odometry()
 
  self.intake_component.maybe_reindex_deployment_encoder()
- self.status_lights.execute()
  self.vision_port.execute()
  self.vision_starboard.execute()
 
@@ -223,14 +222,16 @@ def disabledPeriodic(self) -> None:
  distance_between(intended_start_pose, current_pose)
  < self.START_POS_TOLERANCE
  ):
- self.status_lights.rainbow()
+ self.status_lights.morse()
  else:
  self.status_lights.invalid_start()
  else:
  self.status_lights.missing_start_pose()
  else:
  self.status_lights.missing_start_pose()
 
+ self.status_lights.execute()
+
  def autonomousInit(self) -> None:
  self.field.getObject("Intended start pos").setPoses([])