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src/main/java/frc/robot/commands/LEDControllerCommand.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
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|
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| package frc.robot.commands; | ||
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| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
| import frc.robot.subsystems.LedSubsystem; | ||
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| public class LEDControllerCommand extends CommandBase { | ||
| /** Creates a new LEDControllerCommand. */ | ||
| LedSubsystem m_led; | ||
| Timer m_timer; | ||
| public LEDControllerCommand(LedSubsystem led) { | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| m_led = led; | ||
| m_timer = new Timer(); | ||
| addRequirements(led); | ||
| } | ||
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| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| m_timer.reset(); | ||
| m_timer.start(); | ||
| } | ||
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| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| if (m_timer.hasElapsed(10)) { | ||
| m_led.nextAnimation(); | ||
| m_timer.restart(); | ||
| } | ||
| } | ||
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| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) {} | ||
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| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,95 @@ | ||
| package frc.robot.subsystems; | ||
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| import com.ctre.phoenix.led.Animation; | ||
| import com.ctre.phoenix.led.CANdle; | ||
| import com.ctre.phoenix.led.ColorFlowAnimation; | ||
| import com.ctre.phoenix.led.FireAnimation; | ||
| import com.ctre.phoenix.led.LarsonAnimation; | ||
| import com.ctre.phoenix.led.RainbowAnimation; | ||
| import com.ctre.phoenix.led.ColorFlowAnimation.Direction; | ||
| import com.ctre.phoenix.led.LarsonAnimation.BounceMode; | ||
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| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
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| public class LedSubsystem extends SubsystemBase { | ||
| private final CANdle m_candle; | ||
| private final int m_numLED = 400; | ||
| private Animations m_currentAnimation = Animations.RAINBOW; | ||
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| private final Animation m_rainbow = new RainbowAnimation(1.0, 0.5, m_numLED); | ||
| private final Animation m_red = new ColorFlowAnimation(255, 0, 0, 0, 0.5, m_numLED, Direction.Forward); | ||
| private final Animation m_blue = new ColorFlowAnimation(0, 255, 0, 0, 0.5, m_numLED, Direction.Forward); | ||
| private final Animation m_fire = new FireAnimation(1.0, 0.5, m_numLED, 0.25, 0.25); | ||
| private final Animation m_larson = new LarsonAnimation(255, 0, 0, 0, 0.5, m_numLED, BounceMode.Front, 20); | ||
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| public enum Animations { | ||
| RAINBOW, | ||
| RED, | ||
| BLUE, | ||
| FIRE, | ||
| LARSON | ||
| } | ||
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| public LedSubsystem(int id) { | ||
| m_candle = new CANdle(id); | ||
| m_candle.animate(m_rainbow); | ||
| } | ||
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| public void nextAnimation() { | ||
| switch (m_currentAnimation) { | ||
| case BLUE: | ||
| m_currentAnimation = Animations.FIRE; | ||
| break; | ||
| case FIRE: | ||
| m_currentAnimation = Animations.LARSON; | ||
| break; | ||
| case LARSON: | ||
| m_currentAnimation = Animations.RAINBOW; | ||
| break; | ||
| case RAINBOW: | ||
| m_currentAnimation = Animations.RED; | ||
| break; | ||
| case RED: | ||
| m_currentAnimation = Animations.BLUE; | ||
| break; | ||
| default: | ||
| m_currentAnimation = Animations.RAINBOW; | ||
| break; | ||
|
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| } | ||
| } | ||
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| public void setAnimation(Animations animation) { | ||
| m_currentAnimation = animation; | ||
| } | ||
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| public Animations getAnimation() { | ||
| return m_currentAnimation; | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| switch(m_currentAnimation){ | ||
| case BLUE: | ||
| m_candle.animate(m_blue); | ||
| break; | ||
| case FIRE: | ||
| m_candle.animate(m_fire); | ||
| break; | ||
| case LARSON: | ||
| m_candle.animate(m_larson); | ||
| break; | ||
| case RAINBOW: | ||
| m_candle.animate(m_rainbow); | ||
| break; | ||
| case RED: | ||
| m_candle.animate(m_red); | ||
| break; | ||
| default: | ||
| m_candle.setLEDs(255, 0, 255); | ||
| break; | ||
|
|
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| } | ||
| } | ||
|
|
||
| } |
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