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2 files changed

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‎src/main/java/frc/robot/constants/LEDConstants.java‎

Lines changed: 19 additions & 19 deletions
Original file line numberDiff line numberDiff line change
@@ -3,24 +3,24 @@
33
import edu.wpi.first.wpilibj.util.Color;
44

55
public class LEDConstants {
6-
public static final int stripLength = 42;
6+
public static final int stripLength = 42;
77

8-
public static final Color kAlmostBlack = new Color(0, 0, 1);
9-
// LED Colors
10-
public static final Color kHasAlgea = Color.kAquamarine;
11-
public static final Color kNotHasAlgea = kAlmostBlack;
12-
public static final Color kCoralNotInRobot = Color.kOrange;
13-
public static final Color kCoralInFunnel = Color.kHotPink;
14-
public static final Color kCoralInRobot = Color.kWhite;
15-
public static final Color kCurrentLimiting = Color.kRed;
16-
public static final Color kAutoPlacing = Color.kPurple;
17-
public static final Color kManual = kAlmostBlack;
18-
public static final Color kRight = Color.kSaddleBrown;
19-
public static final Color kLeft = Color.kGreenYellow;
20-
public static final Color kL1 = Color.kBlue;
21-
public static final Color kL2 = Color.kGreen;
22-
public static final Color kL3 = Color.kYellow;
23-
public static final Color kL4 = Color.kRed;
24-
public static final Color kGettingAlgea = Color.kAquamarine;
25-
public static final Color kNotGettingAlgea = kAlmostBlack;
8+
public static final Color kAlmostBlack = new Color(0, 0, 1);
9+
// LED Colors
10+
public static final Color kHasAlgea = Color.kAquamarine;
11+
public static final Color kNotHasAlgea = kAlmostBlack;
12+
public static final Color kCoralNotInRobot = Color.kOrange;
13+
public static final Color kCoralInFunnel = Color.kHotPink;
14+
public static final Color kCoralInRobot = Color.kWhite;
15+
public static final Color kCurrentLimiting = Color.kRed;
16+
public static final Color kAutoPlacing = Color.kPurple;
17+
public static final Color kManual = kAlmostBlack;
18+
public static final Color kRight = Color.kSaddleBrown;
19+
public static final Color kLeft = Color.kGreenYellow;
20+
public static final Color kL1 = Color.kBlue;
21+
public static final Color kL2 = Color.kGreen;
22+
public static final Color kL3 = Color.kYellow;
23+
public static final Color kL4 = Color.kRed;
24+
public static final Color kGettingAlgea = Color.kAquamarine;
25+
public static final Color kNotGettingAlgea = kAlmostBlack;
2626
}

‎src/main/java/frc/robot/subsystems/led/LEDSubsystem.java‎

Lines changed: 74 additions & 65 deletions
Original file line numberDiff line numberDiff line change
@@ -2,84 +2,93 @@
22

33
import static edu.wpi.first.units.Units.Seconds;
44

5+
import edu.wpi.first.wpilibj.LEDPattern;
6+
import edu.wpi.first.wpilibj.util.Color;
7+
import frc.robot.constants.LEDConstants;
58
import java.util.Map;
69
import java.util.Set;
7-
810
import org.strykeforce.telemetry.measurable.MeasurableSubsystem;
911
import org.strykeforce.telemetry.measurable.Measure;
1012

11-
import edu.wpi.first.wpilibj.LEDPattern;
12-
import edu.wpi.first.wpilibj.util.Color;
13-
import frc.robot.constants.LEDConstants;
13+
public class LEDSubsystem extends MeasurableSubsystem {
14+
private LEDIO io;
15+
private LEDPattern base = LEDPattern.solid(Color.kBlack);
16+
private LEDPattern coral = LEDPattern.solid(LEDConstants.kCoralInRobot);
17+
private LEDPattern algea =
18+
LEDPattern.steps(
19+
Map.of(0, LEDConstants.kHasAlgea, LEDConstants.stripLength / 3, Color.kBlack));
1420

15-
public class LEDSubsystem extends MeasurableSubsystem{
16-
private LEDIO io;
17-
private LEDPattern base = LEDPattern.solid(Color.kBlack);
18-
private LEDPattern coral = LEDPattern.solid(LEDConstants.kCoralInRobot);
19-
private LEDPattern algea = LEDPattern.steps(Map.of(0, LEDConstants.kHasAlgea, LEDConstants.stripLength/3, Color.kBlack));
21+
private LEDPattern currentLimiting =
22+
LEDPattern.solid(LEDConstants.kCurrentLimiting).blink(Seconds.of(1), Seconds.of(2));
23+
private LEDPattern autoplace =
24+
LEDPattern.steps(Map.of(LEDConstants.stripLength / 3 * 2, LEDConstants.kAutoPlacing))
25+
.blink(Seconds.of(0.25));
26+
public LEDStates currState = LEDStates.OFF;
27+
public CoralStates coralState = CoralStates.NO_PIECE;
28+
public boolean autoPlacing = false;
29+
public boolean hasAlgae = false;
30+
public boolean isLimiting = false;
2031

21-
private LEDPattern currentLimiting = LEDPattern.solid(LEDConstants.kCurrentLimiting).blink(Seconds.of(1), Seconds.of(2));
22-
private LEDPattern autoplace = LEDPattern.steps(Map.of(LEDConstants.stripLength/3*2, LEDConstants.kAutoPlacing)).blink(Seconds.of(0.25));
23-
public LEDStates currState = LEDStates.OFF;
24-
public CoralStates coralState = CoralStates.NO_PIECE;
25-
public boolean autoPlacing = false;
26-
public boolean hasAlgae = false;
27-
public boolean isLimiting = false;
28-
29-
public LEDSubsystem(LEDIO io) {
30-
this.io = io;
31-
}
32+
public LEDSubsystem(LEDIO io) {
33+
this.io = io;
34+
}
3235

33-
private void buildBase() {
34-
switch (coralState) {
35-
case IN_FUNNEL:
36-
coral = LEDPattern.solid(LEDConstants.kCoralInFunnel);
37-
break;
38-
case IN_ROBOT:
39-
coral = LEDPattern.solid(LEDConstants.kCoralInRobot);
40-
break;
41-
case NO_PIECE:
42-
coral = LEDPattern.solid(LEDConstants.kCoralNotInRobot);
43-
break;
44-
}
45-
algea = LEDPattern.steps(Map.of(0, LEDConstants.kHasAlgea, LEDConstants.stripLength/3, Color.kBlack));
46-
36+
private void buildBase() {
37+
switch (coralState) {
38+
case IN_FUNNEL:
39+
coral = LEDPattern.solid(LEDConstants.kCoralInFunnel);
40+
break;
41+
case IN_ROBOT:
42+
coral = LEDPattern.solid(LEDConstants.kCoralInRobot);
43+
break;
44+
case NO_PIECE:
45+
coral = LEDPattern.solid(LEDConstants.kCoralNotInRobot);
46+
break;
4747
}
48+
algea =
49+
LEDPattern.steps(
50+
Map.of(0, LEDConstants.kHasAlgea, LEDConstants.stripLength / 3, Color.kBlack));
51+
}
4852

49-
public void periodic() {
50-
switch (currState) {
51-
case OFF:
52-
break;
53-
case NORMAL:
54-
if (autoPlacing) {
55-
base = autoplace.overlayOn(base);
56-
}
57-
if (isLimiting) {
58-
base = currentLimiting.overlayOn(base);
59-
}
60-
io.setStrip(base);
61-
break;
62-
case CLIMB:
63-
break;
53+
public void periodic() {
54+
switch (currState) {
55+
case OFF:
56+
break;
57+
case NORMAL:
58+
if (autoPlacing) {
59+
base = autoplace.overlayOn(base);
60+
}
61+
if (isLimiting) {
62+
base = currentLimiting.overlayOn(base);
6463
}
65-
io.updateLEDs();
64+
io.setStrip(base);
65+
break;
66+
case CLIMB:
67+
break;
6668
}
69+
io.updateLEDs();
70+
}
6771

68-
@Override
69-
public Set<Measure> getMeasures() {
70-
return Set.of(new Measure("State", "the current Overall state of the LEDSubsystem", () -> currState.ordinal()),
71-
new Measure("CoralState", "the current Coral state of the LEDSubsystem", () -> coralState.ordinal()));
72-
}
72+
@Override
73+
public Set<Measure> getMeasures() {
74+
return Set.of(
75+
new Measure(
76+
"State", "the current Overall state of the LEDSubsystem", () -> currState.ordinal()),
77+
new Measure(
78+
"CoralState",
79+
"the current Coral state of the LEDSubsystem",
80+
() -> coralState.ordinal()));
81+
}
7382

74-
public enum LEDStates {
75-
OFF,
76-
NORMAL,
77-
CLIMB
78-
}
83+
public enum LEDStates {
84+
OFF,
85+
NORMAL,
86+
CLIMB
87+
}
7988

80-
public enum CoralStates {
81-
IN_FUNNEL,
82-
IN_ROBOT,
83-
NO_PIECE,
84-
}
89+
public enum CoralStates {
90+
IN_FUNNEL,
91+
IN_ROBOT,
92+
NO_PIECE,
93+
}
8594
}

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