[ghead]

The orange light indicates the relay has power but is 'off', no output. It will turn green when forward and red when reverse. 'kOn' is only used when you initialize a relay with a defined direction, Relay::kForwardOnly for example, instead of kBothDirections.

So you would either use kOn, or you would use kForward and kReverse, depending on how you initialized the relay. kOff is used in both cases to turn off the relay.

So assuming you initialized the relay with kBothDirections, your code would look something like:

bool forward = stick.GetRawButton(button2);
bool reverse = stick.GetRawButton(button3);

if (forward == true) {
	arm_rotator.Set(Relay::kForward); } 
else if (reverse == true) {
        arm_rotator.Set(Relay::kReverse); }
else {
	arm_rotator.Set(Relay::kOff); }