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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,131 @@ | ||
| package org.team340.robot.subsystems; | ||
|
|
||
| import edu.wpi.first.wpilibj.AddressableLED; | ||
| import edu.wpi.first.wpilibj.AddressableLEDBuffer; | ||
| import edu.wpi.first.wpilibj.DriverStation; | ||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import java.util.function.Supplier; | ||
| import org.team340.lib.util.Alliance; | ||
| import org.team340.lib.util.GRRSubsystem; | ||
| import org.team340.lib.util.Math2; | ||
| import org.team340.robot.Constants.RobotMap; | ||
|
|
||
| public class Lights extends GRRSubsystem { | ||
|
|
||
| private static final int kLength = 56; | ||
|
|
||
| private final AddressableLED lights; | ||
| private final AddressableLEDBuffer buffer; | ||
| private final Timer timer; | ||
|
|
||
| public Lights() { | ||
| lights = new AddressableLED(RobotMap.kLights); | ||
| buffer = new AddressableLEDBuffer(kLength); | ||
| timer = new Timer(); | ||
|
|
||
| lights.setLength(buffer.getLength()); | ||
| apply(); | ||
| lights.start(); | ||
| timer.start(); | ||
| } | ||
|
|
||
| /** | ||
| * Applies the buffer to the LED strip. | ||
| */ | ||
| private void apply() { | ||
| lights.setData(buffer); | ||
| } | ||
|
|
||
| /** | ||
| * Modifies the buffer to be a single color. | ||
| * @param r Red value from {@code 0} to {@code 255}. | ||
| * @param g Green value from {@code 0} to {@code 255}. | ||
| * @param b Blue value from {@code 0} to {@code 255}. | ||
| */ | ||
| private void set(int r, int g, int b) { | ||
| for (int i = 0; i < buffer.getLength(); i++) { | ||
| buffer.setRGB(i, r, g, b); | ||
| } | ||
| } | ||
|
|
||
| /** | ||
| * Modifies the buffer with values mirrored across the center of the LED strip. | ||
| * @param i The index of the buffer to modify. | ||
| * @param r Red value from {@code 0} to {@code 255}. | ||
| * @param g Green value from {@code 0} to {@code 255}. | ||
| * @param b Blue value from {@code 0} to {@code 255}. | ||
| */ | ||
| private void setMirrored(int i, int r, int g, int b) { | ||
| buffer.setRGB(i, r, g, b); | ||
| buffer.setRGB(buffer.getLength() - i - 1, r, g, b); | ||
| } | ||
|
|
||
| /** | ||
| * Runs the lights. | ||
| */ | ||
| public Command run(Supplier<Boolean> hasNote) { | ||
| int[] state = new int[buffer.getLength()]; | ||
| for (int i = 0; i < state.length; i++) { | ||
| state[i] = 0; | ||
| } | ||
|
|
||
| return commandBuilder() | ||
| .onExecute(() -> { | ||
| if (DriverStation.isTeleopEnabled()) { | ||
| if (hasNote.get()) { | ||
| double time = timer.get(); | ||
| int v = time % 1.0 > 0.5 ? 255 : 0; | ||
| for (int i = 0; i < buffer.getLength() / 2; i++) { | ||
| setMirrored(i, 0, v, 0); | ||
| } | ||
| } else { | ||
| int v = (int) (((Math.cos(timer.get() * 8.5) + 1.0) * 87.5) + 25.0); | ||
| if (Alliance.isBlue()) { | ||
| set(0, 0, v); | ||
| } else { | ||
| set(v, 0, 0); | ||
| } | ||
| } | ||
| } else if (DriverStation.isAutonomousEnabled()) { | ||
| for (int i = 0; i < buffer.getLength() / 2; i++) { | ||
| state[i] = (int) Math.max( | ||
| 0.0, | ||
| state[i] - Math2.random((0.5 + (i / (buffer.getLength() * 0.25))) * 70.0) + 4.0 | ||
| ); | ||
| } | ||
| for (int i = (buffer.getLength() / 2) - 1; i >= 2; i--) { | ||
| state[i] = (state[i - 1] + state[i - 2] + state[i - 2]) / 3; | ||
| } | ||
| if (Math.random() < 0.5) { | ||
| int i = (int) Math2.random(8.0); | ||
| state[i] = (int) (state[i] + Math2.random(160.0, 255.0)); | ||
| } | ||
| for (int i = 0; i < buffer.getLength() / 2; i++) { | ||
| int heat = (int) ((state[i] / 255.0) * 191.0); | ||
| int ramp = (heat & 63) << 2; | ||
| if (heat > 180) { | ||
| setMirrored(i, 255, 255, ramp); | ||
| } else if (heat > 60) { | ||
| setMirrored(i, 255, ramp, 0); | ||
| } else { | ||
| setMirrored(i, ramp, 0, 0); | ||
| } | ||
| } | ||
| } else if (DriverStation.isDisabled()) { | ||
| if (Alliance.isBlue()) set(0, 0, 150); | ||
| else set(150, 0, 0); | ||
| } else { | ||
| set(0, 0, 0); | ||
| } | ||
|
|
||
| apply(); | ||
| }) | ||
| .onEnd(() -> { | ||
| set(0, 0, 0); | ||
| apply(); | ||
| }) | ||
| .ignoringDisable(true) | ||
| .withName("lights.defaultCommand()"); | ||
| } | ||
| } |