From 93ed2208a987489beda2dfbddda71ad3d2011a4e Mon Sep 17 00:00:00 2001
From: KeshavAnandCode <keshavanandofficial@gmail.com>
Date: Thu, 12 Feb 2026 20:08:53 -0600
Subject: [PATCH] Added light?

---
 .../ftc/teamcode/utils/Spindexer.java         | 66 ++++++++++++++-----
 1 file changed, 49 insertions(+), 17 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
index 64b1468..5edc576 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
@@ -25,6 +25,8 @@ import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.constants.StateEnums;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
 
+import java.util.Objects;
+
 public class Spindexer {
 
     Robot robot;
@@ -284,35 +286,65 @@ public class Spindexer {
 
     }
 
-    private double prevLight = 0.0;
-    public void ballCounterLight(){
+    public double getRearCenterLight() {
+        BallColor color = GetRearCenterColor();
+        if (Objects.equals(color, BallColor.GREEN)) {
+            return LightGreen;
+        } else if (Objects.equals(color, BallColor.PURPLE)) {
+            return LightPurple;
+        } else {
+            return LightOrange;
+        }
+    }
+
+
+    public double getDriverLight() {
+        BallColor color = GetFrontDriverColor();
+        if (Objects.equals(color, BallColor.GREEN)) {
+            return LightGreen;
+        } else if (Objects.equals(color, BallColor.PURPLE)) {
+            return LightPurple;
+        } else {
+            return LightOrange;
+        }
+    }
+
+    public double getPassengerLight() {
+        BallColor color = GetFrontPassengerColor();
+        if (Objects.equals(color, BallColor.GREEN)) {
+            return LightGreen;
+        } else if (Objects.equals(color, BallColor.PURPLE)) {
+            return LightPurple;
+        } else {
+            return LightOrange;
+        }
+    }
+    public double ballCounterLight() {
         int counter = 0;
-        if (!ballPositions[0].isEmpty){
+        if (!ballPositions[0].isEmpty) {
             counter++;
         }
-        if (!ballPositions[1].isEmpty){
+        if (!ballPositions[1].isEmpty) {
             counter++;
         }
-        if (!ballPositions[2].isEmpty){
+        if (!ballPositions[2].isEmpty) {
             counter++;
         }
 
-        double light;
-        if (counter == 3){
-            light = Light3;
-        } else if (counter == 2){
-            light = Light2;
-        } else if (counter == 1){
-            light = Light1;
+        if (counter == 3) {
+            return Light3;
+        } else if (counter == 2) {
+            return Light2;
+        } else if (counter == 1) {
+            return Light1;
         } else {
-            light = Light0;
+            return Light0;
         }
-        if (light != prevLight){
-            robot.light.setPosition(light);
-        }
-        prevLight = light;
     }
 
+
+
+
     public boolean slotIsEmpty(int slot){
         return !ballPositions[slot].isEmpty;
     }