Getting Team color from the field REDUX

[SLAB-Mr.Thomas]

Two years ago it was recommended that the robot code get the alliance color every 1 second during competitions. That’s a pain to produce and maintain dynamic Commands that determine the color and act appropriately. It’s easier to create the proper commands once in robot container if that’s safely possible now. Is it still a problem that we must get the color periodically?

Getting Team color from the field

I would recommend reading the alliance color periodically. If you do it just once, if the DS wasn’t connected to the FMS you’ll be stuck with invalid or the wrong color alliance. We updated this every 1 second, so even in the case of a code reset (where disabledPeriodic() might not run), everything would be fine. Here is what that code snippet would look like (goes in robotInit() in Robot.java): // Update alliance color every second (just in case we lose comms or power). addPeriodic(() -> robo…

[ArchdukeTim]

Now you should be able to check DriverStation.getAlliance() until the Optional<DriverStation.Alliance> that is returned has a value (checked with isPresent()). If there’s a value, you can save it and shouldn’t need to recheck