Merge branch 'main' of https://github.com/redshiftrobotics/crescendo-…

…2024

src/main/java/frc/robot/Constants.java

@@ -261,7 +261,16 @@ public static class VisionConstants {
 	}
 
 	public static class LightConstants {
-		public static final int LED_CONTROLLER_PWM_SLOT = 0;
+		public static final int LED_CONTROLLER_PWM_SLOT = 1;
 		public static final int LED_QUANTITY = 60;
+
+		public static final double LED_COLOR_RED = 0.61;
+		public static final double LED_COLOR_ORANGE = 0.65;
+		public static final double LED_COLOR_YELLOW = 0.69;
+		public static final double LED_COLOR_GREEN = 0.77;
+		public static final double LED_COLOR_BLUE = 0.87;
+		public static final double LED_COLOR_PURPLE = 0.91;
+		public static final double LED_COLOR_WHITE = 0.93;
+		public static final double LED_COLOR_RAINBOW = -0.99;
 	}
 }

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

@@ -22,7 +22,6 @@
 
 import com.kauailabs.navx.frc.AHRS;
 
-import edu.wpi.first.wpilibj.AddressableLED;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.GenericHID.HIDType;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -94,7 +93,11 @@ public class RobotContainer {
 
 	private final Vision vision = new Vision(VisionConstants.CAMERA_NAME, VisionConstants.CAMERA_POSE);
 
-	private final LightStrip lightStrip = new LightStrip(new AddressableLED(LightConstants.LED_CONTROLLER_PWM_SLOT));
+	private final ArmRotateTo armToIntake = new ArmRotateTo(arm, ArmConstants.ARM_INTAKE_DEGREES);
+	private final ArmRotateTo armToAmp = new ArmRotateTo(arm, ArmConstants.ARM_AMP_SHOOTING_DEGREES);
+	private final ArmRotateTo armToSpeaker = new ArmRotateTo(arm, ArmConstants.ARM_SPEAKER_SHOOTING_DEGREES);
+
+	private final LightStrip lightStrip = new LightStrip(LightConstants.LED_CONTROLLER_PWM_SLOT);
 
 	/**
 	 * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -103,7 +106,6 @@ public RobotContainer() {
 		autoChooser.addOption("Rotate by 90", Autos.rotateTestAuto(drivetrain, 90, false));
 		autoChooser.addOption("Forward", Autos.driveAuto(drivetrain, +1));
 		autoChooser.addOption("Backward", Autos.driveAuto(drivetrain, -1));
-		autoChooser.addOption("Make LEDs blue", new SetLightstripColor(lightStrip, 0, 0, 200));
 		SmartDashboard.putData("Auto Chooser", autoChooser);
 
 		SmartDashboard.putString("Bot Name", Constants.currentBot.toString() + " - " + Constants.serialNumber);
@@ -193,6 +195,9 @@ public void setUpOperatorController() {
 			joystick.button(4).onTrue(armToIntake);
 			joystick.button(5).onTrue(armToAmp);
 			joystick.button(6).onTrue(armToSpeaker);
+
+			joystick.button(7).onTrue(new SetLightstripColor(lightStrip, LightConstants.LED_COLOR_BLUE));
+			joystick.button(8).onTrue(new SetLightstripColor(lightStrip, LightConstants.LED_COLOR_RED));
 		} else {
 			SmartDashboard.putString("Operator Ctrl", "GamePad");
 			final CommandXboxController xbox = new CommandXboxController(genericHID.getPort());

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

@@ -3,31 +3,26 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.LightStrip;
 
-
 public class SetLightstripColor extends Command {
 	private LightStrip lightStrip;
 
-	private int r;
-	private int g;
-	private int b;
+	private double pattern;
 
 	/**
 	 * Set the color of the robot's lightstrip
+	 * 
 	 * @param lightStrip The lightstrip you want to use (there should only be ONE)
-	 * @param r Red level
-	 * @param g Green level
-	 * @param b Blue level
+	 * @param pattern    Pattern
 	 */
-	public SetLightstripColor(LightStrip lightStrip, int r, int g, int b) {
+	public SetLightstripColor(LightStrip lightStrip, double pattern) {
 		this.lightStrip = lightStrip;
-		this.r = r;
-		this.g = g;
-		this.b = b;
+		this.pattern = pattern;
 	}
 
 	@Override
 	public void initialize() {
-		lightStrip.setColor(r, g, b);
+		System.out.println("*** Command: Selecting pattern " + pattern);
+		lightStrip.setPattern(pattern);
 	}
 
 	@Override

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

@@ -1,34 +1,51 @@
 package frc.robot.subsystems;
 
-import edu.wpi.first.wpilibj.AddressableLED;
-import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.Constants.LightConstants;
 
 public class LightStrip extends SubsystemBase {
-	private AddressableLED ledStrip;
-	private AddressableLEDBuffer ledBuffer;
+	/**
+	 * The LED controller PWM signal from 1000-2000us, which is identical to a Spark
+	 * servo. So, we use the Spark class.
+	 * -1 corresponds to 1000us
+	 * 0 corresponds to 1500us
+	 * +1 corresponds to 2000us
+	 */
+	private Spark ledStrip;
+	private double pattern;
 
-	public LightStrip(AddressableLED ledstrip) {
+	/**
+	 * Creates a new LightStrip subsystem.
+	 * 
+	 * @param ledstrip The 'spark' representing the Blinkin
+	 */
+	public LightStrip(Spark ledstrip) {
 		ledStrip = ledstrip;
-		ledBuffer = new AddressableLEDBuffer(LightConstants.LED_QUANTITY);
-
-		// Docs say this is an expensive operation so future maintainers should avoid
-		// modifying this excessibely
-		ledStrip.setLength(ledBuffer.getLength());
-		ledStrip.setData(ledBuffer);
+	}
 
-		ledStrip.start();
+	/**
+	 * Creates a new LightStrip subsystem.
+	 * 
+	 * @param pwmPort The port number for the blinkin
+	 */
+	public LightStrip(int pwmPort) {
+		ledStrip = new Spark(pwmPort);
 	}
 
-	public void setColor(int r, int g, int b) {
-		for (int i = 0; i < ledBuffer.getLength(); i++) {
-			ledBuffer.setRGB(i, r, g, b);
-		}
+	/**
+	 * Sets the blinkin to a pattern
+	 * 
+	 * @param pattern Pattern ID to use. Consult section 5 of the blinkin manual.
+	 * @link https://www.revrobotics.com/content/docs/REV-11-1105-UM.pdf
+	 */
+	public void setPattern(double pattern) {
+		this.pattern = pattern;
 	}
 
 	@Override
 	public void periodic() {
-		ledStrip.setData(ledBuffer);
+		// System.out.println("*** Subsystem setting pattern to pattern number " +
+		// pattern);
+		ledStrip.set(pattern);
 	}
 }