feat: fix bindings, add led tuning mode

flamingchickens1540 · Feb 13, 2024 · 0335fe4 · 0335fe4
1 parent 102fd7b
commit 0335fe4
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Showing 6 changed files with 28 additions and 17 deletions.
diff --git a/src/main/java/org/team1540/robot2024/Constants.java b/src/main/java/org/team1540/robot2024/Constants.java
@@ -20,7 +20,7 @@ public final class Constants {
     private static final Mode simMode = Mode.SIM; // Can also be Mode.REPLAY
 
     public static final Mode currentMode = Robot.isReal() ? Mode.REAL : simMode;
-    public static final int LED_STRIP_PORT_PWM = 1;
+    public static final int LED_STRIP_PORT_PWM = 9;
     public static final int LED_STRIP_LENGTH= 80;
     public enum Mode {
         /**

diff --git a/src/main/java/org/team1540/robot2024/Robot.java b/src/main/java/org/team1540/robot2024/Robot.java
@@ -11,6 +11,11 @@
 import org.littletonrobotics.junction.wpilog.WPILOGReader;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 import org.team1540.robot2024.subsystems.led.*;
+import org.team1540.robot2024.subsystems.led.patterns.LedPatternFlame;
+import org.team1540.robot2024.subsystems.led.patterns.LedPatternRSLState;
+import org.team1540.robot2024.subsystems.led.patterns.LedPatternRainbow;
+import org.team1540.robot2024.subsystems.led.patterns.SimpleLedPattern;
+import org.team1540.robot2024.util.LoggedTunableNumber;
 import org.team1540.robot2024.util.MechanismVisualiser;
 
 /**
@@ -23,6 +28,10 @@ public class Robot extends LoggedRobot {
     private Command autonomousCommand;
     private RobotContainer robotContainer;
 
+    LoggedTunableNumber led_r = new LoggedTunableNumber("led/r", 0);
+    LoggedTunableNumber led_g = new LoggedTunableNumber("led/g", 0);
+    LoggedTunableNumber led_b = new LoggedTunableNumber("led/b", 0);
+
     /**
      * This function is run when the robot is first started up and should be used for any
      * initialization code.
@@ -104,8 +113,7 @@ public void robotPeriodic() {
      */
     @Override
     public void disabledInit() {
-        robotContainer.leds.setPattern(Leds.Zone.ZONE1, SimpleLedPattern.solid(Color.kBlueViolet));
-        robotContainer.leds.setPattern(Leds.Zone.ZONE2, SimpleLedPattern.solid(Color.kPaleVioletRed));
+        robotContainer.leds.setPattern(Leds.Zone.ELEVATOR_BACK, new LedPatternFlame());
     }
 
     /**
@@ -120,7 +128,7 @@ public void disabledPeriodic() {
      */
     @Override
     public void autonomousInit() {
-        robotContainer.leds.setPattern(Leds.Zone.ZONE1,SimpleLedPattern.alternating(Color.kBlueViolet, Color.kCrimson));
+        robotContainer.leds.setPattern(Leds.Zone.ELEVATOR_BACK,LedPatternRSLState.matchingColors());
         autonomousCommand = robotContainer.getAutonomousCommand();
         // schedule the autonomous command (example)
         if (autonomousCommand != null) {
@@ -164,8 +172,7 @@ public void teleopPeriodic() {
      */
     @Override
     public void testInit() {
-        robotContainer.leds.setPattern(Leds.Zone.ZONE1,new LedPatternFlame(82));
-        robotContainer.leds.setPattern(Leds.Zone.ZONE2,new LedPatternFlame(82));
+        robotContainer.leds.setPattern(Leds.Zone.ELEVATOR_BACK,new LedPatternRainbow(1));
         // Cancels all running commands at the start of test mode.
         CommandScheduler.getInstance().cancelAll();
     }
@@ -175,6 +182,7 @@ public void testInit() {
      */
     @Override
     public void testPeriodic() {
+        robotContainer.leds.setPattern(Leds.Zone.ELEVATOR_BACK,SimpleLedPattern.solid(new Color(led_r.get(), led_g.get(), led_b.get())));
     }
 
     /**

diff --git a/src/main/java/org/team1540/robot2024/RobotContainer.java b/src/main/java/org/team1540/robot2024/RobotContainer.java
@@ -169,11 +169,11 @@ public RobotContainer() {
     }
 
     private void configureLedBindings() {
-        leds.setFatalPattern(new LedPatternFlame());
+        leds.setFatalPattern(LedPatternFlame::new);
         new Trigger(DriverStation::isDSAttached)
                 .onTrue(Commands.runOnce(leds::clearFatalPattern)
                             .ignoringDisable(true))
-                .onFalse(Commands.runOnce(() -> leds.setFatalPattern(new LedPatternFlame()))
+                .onFalse(Commands.runOnce(() -> leds.setFatalPattern(LedPatternFlame::new))
                             .ignoringDisable(true));
     }
     /**

diff --git a/src/main/java/org/team1540/robot2024/subsystems/led/Leds.java b/src/main/java/org/team1540/robot2024/subsystems/led/Leds.java
@@ -7,6 +7,8 @@
 import org.team1540.robot2024.subsystems.led.patterns.LedPattern;
 
 
+import java.util.function.Supplier;
+
 import static org.team1540.robot2024.Constants.LED_STRIP_PORT_PWM;
 
 public class Leds extends SubsystemBase {
@@ -20,8 +22,7 @@ public Leds() {
         strip.setData(ledBuffer);
         strip.start();
 
-        buffers[Zone.ZONE1.ordinal()] = new ZonedAddressableLEDBuffer(ledBuffer, 1, 40, false);
-        buffers[Zone.ZONE2.ordinal()] = new ZonedAddressableLEDBuffer(ledBuffer, 40, 80, false);
+        buffers[Zone.ELEVATOR_BACK.ordinal()] = new ZonedAddressableLEDBuffer(ledBuffer, 1, 41, false);
         for (int i = 0; i < ZONE_COUNT;i++) {
             patterns[i] = new LedTriager();
         }
@@ -50,27 +51,24 @@ public void clearPattern(Zone zone, PatternCriticality criticality) {
         patterns[zone.ordinal()].clearPattern(criticality);
     }
 
-    public void setFatalPattern(LedPattern pattern) {
-        System.out.println("Setting criticality");
+    public void setFatalPattern(Supplier<LedPattern> patternSupplier) {
         for (int i = 0; i<ZONE_COUNT;i++) {
+            LedPattern pattern = patternSupplier.get();
             patterns[i].addPattern(pattern, PatternCriticality.FATAL);
             pattern.setLength(buffers[i].getLength());
         }
     }
 
     public void clearFatalPattern() {
-        System.out.println("Clearing criticality");
         for (int i = 0; i<ZONE_COUNT;i++) {
             patterns[i].clearPattern(PatternCriticality.FATAL);
         }
-
     }
 
 
     private static final int ZONE_COUNT=Zone.values().length;
     public enum Zone {
-        ZONE1,
-        ZONE2;
+        ELEVATOR_BACK,
     }
     static final int CRITICALITY_COUNT=PatternCriticality.values().length;
     public enum PatternCriticality {

diff --git a/src/main/java/org/team1540/robot2024/subsystems/led/patterns/LedPatternFlame.java b/src/main/java/org/team1540/robot2024/subsystems/led/patterns/LedPatternFlame.java
@@ -8,7 +8,7 @@
 
 public class LedPatternFlame extends LedPattern {
     private static final Random generator = new Random();
-    private static final boolean reverseDirection = true;
+    private static final boolean reverseDirection = false;
 
     private final int cooling;
     private final int sparking = 123;

diff --git a/src/main/java/org/team1540/robot2024/subsystems/led/patterns/LedPatternRSLState.java b/src/main/java/org/team1540/robot2024/subsystems/led/patterns/LedPatternRSLState.java
@@ -1,6 +1,7 @@
 package org.team1540.robot2024.subsystems.led.patterns;
 
 import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj.util.Color;
 import org.team1540.robot2024.subsystems.led.ZonedAddressableLEDBuffer;
 
 public class LedPatternRSLState extends LedPattern {
@@ -20,4 +21,8 @@ public void apply(ZonedAddressableLEDBuffer buffer) {
             b.apply(buffer);
         }
     }
+
+    public static LedPattern matchingColors() {
+        return new LedPatternRSLState(SimpleLedPattern.solid(new Color(1, 0.1, 0)), SimpleLedPattern.solid(Color.kBlack));
+    }
 }