Merge pull request #15 from noodleeater99/main

LED code v1 TEST

src/main/java/frc/robot/RobotContainer.java

@@ -10,7 +10,9 @@
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.robot.commands.DriveCommands;
+import frc.robot.commands.SetLEDCommand;
 import frc.robot.constants.DrivetrainConstants;
+import frc.robot.constants.LEDConstants;
 import frc.robot.subsystems.SwerveSubsystem;
 
 /**
@@ -48,6 +50,16 @@ public void configureButtonBindings(){
               swerveSubsystem.zeroGyro();
             })
     );
+    new JoystickButton(primaryController, XboxController.Button.kA.value).whileTrue(
+            new RunCommand(() -> {
+              SetLEDCommand.run(LEDConstants.Status.TEST_1);
+            })
+    );
+    new JoystickButton(primaryController, XboxController.Button.kB.value).whileTrue(
+            new RunCommand(() -> {
+              SetLEDCommand.run(LEDConstants.Status.TEST_2);
+            })
+    );
   }
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.

src/main/java/frc/robot/commands/SetLEDCommand.java

@@ -0,0 +1,24 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.LEDConstants;
+import frc.robot.subsystems.LEDSubsystem;
+
+public class SetLEDCommand extends Command {
+    private static LEDSubsystem subsystem = null;
+    public SetLEDCommand(LEDSubsystem subsystem) {
+        this.subsystem = subsystem;
+    }
+
+    //@Override
+    public static void run(LEDConstants.Status currentStatus) {
+        switch(currentStatus) {
+            case TEST_1:
+                //Confetti
+                subsystem.setLED(-0.87);
+            case TEST_2:
+                //Sinelon, Forest Palette
+                subsystem.setLED(-0.71);
+        }
+    }
+}

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

@@ -0,0 +1,13 @@
+package frc.robot.constants;
+
+public class LEDConstants {
+    public static enum Status {
+        DISABLED,
+        IDLE,
+        MOVING,
+        VISION_MOVING,
+        TEST_1,
+        TEST_2
+    }
+
+}

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

@@ -0,0 +1,19 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.networktables.DoublePublisher;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class LEDSubsystem extends SubsystemBase {
+    Spark BlinkinDriver = new Spark(9);
+    DoublePublisher LED_NT = NetworkTableInstance.getDefault().getTable("LEDs").getDoubleTopic("LEDValue").publish();
+    @Override
+    public void periodic() {
+        super.periodic();
+        LED_NT.set(BlinkinDriver.get());
+    }
+    public void setLED(double value) {
+        BlinkinDriver.set(value);
+    }
+}