From c50519e6e44cf1c9717375387b0a475631cd9e4f Mon Sep 17 00:00:00 2001
From: Liam Fruzyna <liam@fruzyna.net>
Date: Sun, 10 Mar 2024 09:43:26 -0500
Subject: [PATCH] Created a function that fetches and stores the FMS alliance,
 then returns the stored version. Plus, two helper functions that return
 booleans

---
 .../org/wildstang/framework/core/Core.java    | 32 +++++++++++++++++++
 1 file changed, 32 insertions(+)

diff --git a/src/main/java/org/wildstang/framework/core/Core.java b/src/main/java/org/wildstang/framework/core/Core.java
index de73339a..e4976db7 100644
--- a/src/main/java/org/wildstang/framework/core/Core.java
+++ b/src/main/java/org/wildstang/framework/core/Core.java
@@ -14,6 +14,9 @@
 import org.wildstang.framework.subsystems.Subsystem;
 import org.wildstang.framework.subsystems.SubsystemManager;
 
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+
 /**
  * Core of robot framework.
  */
@@ -26,6 +29,7 @@ public class Core {
     private static InputFactory s_inputFactory;
     private static OutputFactory s_outputFactory;
     private static AutoManager s_autoManager;
+    private static Alliance alliance;
 
     private Class<?> m_inputFactoryClass;
     private Class<?> m_outputFactoryClass;
@@ -220,4 +224,32 @@ public void executeUpdate() {
         s_outputManager.update();
     }
 
+    /**
+     * Returns the stored FMS alliance. If nothing is stored, fetch and store the alliance.
+     * @return Stored Alliance value.
+     */
+    public Alliance getAlliance() {
+        if (alliance == null) {
+            alliance = DriverStation.getAlliance();
+        }
+        return alliance;
+    }
+
+    /**
+     * Determines if the stored FMS alliance is the blue alliance.
+     * @return True if blue alliance.
+     */
+    public boolean isBlueAlliance() {
+        Alliance alliance = getAlliance();
+        return alliance.equals(Alliance.Blue);
+    }
+
+    /**
+     * Determines if the stored FMS alliance is the red alliance.
+     * @return True if red alliance.
+     */
+    public boolean isRedAlliance() {
+        Alliance alliance = getAlliance();
+        return alliance.equals(Alliance.Red);
+    }
 }