From f5aa3a24a145aa8ca18b388e2c4aef170c7f74bb Mon Sep 17 00:00:00 2001
From: Gavin <94215019+Gavin-Niederman@users.noreply.github.com>
Date: Wed, 4 Dec 2024 16:38:47 +0000
Subject: [PATCH] refactor: use limelight classifier class index this might
 work

---
 .../frc2024/subsystems/indexer/IndexerIO.kt   | 19 ++++++++-----------
 1 file changed, 8 insertions(+), 11 deletions(-)

diff --git a/src/main/kotlin/com/frcteam3636/frc2024/subsystems/indexer/IndexerIO.kt b/src/main/kotlin/com/frcteam3636/frc2024/subsystems/indexer/IndexerIO.kt
index 21ef8a4..d622554 100644
--- a/src/main/kotlin/com/frcteam3636/frc2024/subsystems/indexer/IndexerIO.kt
+++ b/src/main/kotlin/com/frcteam3636/frc2024/subsystems/indexer/IndexerIO.kt
@@ -36,9 +36,9 @@ interface IndexerIO {
 
 class IndexerIOReal : IndexerIO{
     companion object Constants {
-        const val RED_CLASS  = "red"
-        const val BLUE_CLASS = "blue"
-        const val NONE_CLASS = "none"
+        const val RED_CLASS  = 0
+        const val BLUE_CLASS = 1
+        const val NONE_CLASS = 2
     }
 
     private var indexerMotor =
@@ -52,14 +52,11 @@ class IndexerIOReal : IndexerIO{
         inputs.indexerCurrent = Amps.of(indexerMotor.outputCurrent)
         inputs.position = Rotations.of(indexerMotor.encoder.position)
 
-        val colorClass = LimelightHelpers.getClassifierClass("limelight")
-            inputs.balloonState = if (colorClass.contains(RED_CLASS)) { // "0 red"
-                BalloonState.Red
-            } else if (colorClass.contains(BLUE_CLASS)) { // "1 blue"
-                BalloonState.Blue
-            } else { // ""
-                BalloonState.None
-            }
+        when (val colorClass = LimelightHelpers.getClassifierClassIndex("limelight")) {
+            RED_CLASS -> inputs.balloonState = BalloonState.Red
+            BLUE_CLASS -> inputs.balloonState = BalloonState.Blue
+            else -> inputs.balloonState = BalloonState.None
+        }
     }
 
     override fun setSpinSpeed(speed: Double) {