From 60e6350922cd026651b6b1c6f86b1c76b8252377 Mon Sep 17 00:00:00 2001
From: Seb-TheDropBears <seb.zanardo@thedropbears.org.au>
Date: Mon, 11 Mar 2024 16:46:10 +1100
Subject: [PATCH] Updated packet sending code. Added match state

---
 components/led_panel.py | 47 ++++++++++++++++++++++++++---------------
 1 file changed, 30 insertions(+), 17 deletions(-)

diff --git a/components/led_panel.py b/components/led_panel.py
index 372d7a23..a31c6132 100644
--- a/components/led_panel.py
+++ b/components/led_panel.py
@@ -11,8 +11,8 @@ class LEDPanel:
     }
 
     def __init__(self) -> None:
-        # custom packet: 0, 000, 0000
-        # match state, led status, match id
+        # Custom packet: 00 000000
+        # match state, state specific information
         self.packet = 0b00000000
         self.panel_port = wpilib.SerialPort(
             baudRate=9600, port=wpilib.SerialPort.Port.kUSB2, dataBits=8
@@ -22,6 +22,19 @@ def __init__(self) -> None:
     def send_packet(self) -> None:
         self.panel_port.write(self.packet.to_bytes())
 
+    def set_match_state(self) -> None:
+        self.packet &= 0b00111111
+
+        if wpilib.DriverStation.isAutonomous() or wpilib.DriverStation.isTeleop():
+            # During
+            self.packet |= 0b01 << 6
+        elif wpilib.DriverStation.getMatchTime() <= 0:
+            # Post match
+            self.packet |= 0b10 << 6
+        else:
+            # Pre match
+            self.packet |= 0b00 << 6
+
     def set_match_id(self) -> None:
         match_type = wpilib.DriverStation.getMatchType()
         match_id = 0
@@ -30,45 +43,45 @@ def set_match_id(self) -> None:
             or match_type == wpilib.DriverStation.MatchType.kElimination
         ):
             match_id = self.matches[wpilib.DriverStation.getMatchNumber()]
-            # Can't be greater than 15 as it is sent as 4bits
+            # Can't be greater than 15
             match_id = max(match_id, 15)
 
         self.packet |= match_id
         self.send_packet()
 
     def no_note(self) -> None:
-        self.packet &= 0b10001111
+        self.packet &= 0b11000000
         self.send_packet()
 
     def intake_deployed(self) -> None:
-        self.packet &= 0b10001111
-        self.packet |= 0b001 << 4
+        self.packet &= 0b11000000
+        self.packet |= 0b001
         self.send_packet()
 
     def in_range(self) -> None:
-        self.packet &= 0b10001111
-        self.packet |= 0b010 << 4
+        self.packet &= 0b11000000
+        self.packet |= 0b010
         self.send_packet()
 
     def not_in_range(self) -> None:
-        self.packet &= 0b10001111
-        self.packet |= 0b011 << 4
+        self.packet &= 0b11000000
+        self.packet |= 0b011
         self.send_packet()
 
     def climbing_arm_extending(self) -> None:
-        self.packet &= 0b10001111
-        self.packet |= 0b100 << 4
+        self.packet &= 0b11000000
+        self.packet |= 0b100
         self.send_packet()
 
     def climbing_arm_fully_extended(self) -> None:
-        self.packet &= 0b10001111
-        self.packet |= 0b101 << 4
+        self.packet &= 0b11000000
+        self.packet |= 0b101
         self.send_packet()
 
     def climbing_arm_retracted(self) -> None:
-        self.packet &= 0b10001111
-        self.packet |= 0b110 << 4
+        self.packet &= 0b11000000
+        self.packet |= 0b110
         self.send_packet()
 
     def execute(self) -> None:
-        pass
+        self.set_match_state()