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* feat: LED Framework * refactor: clean up modifiers, loops * feat: add wave pattern * refactor: change led pattern structure * feat: add alternating group sizes * feat: Fire and breathing LED patterns :D * feat: RSL LEDs * feat: allow hue selection based on Color * refactor: clean up pattern files * feat: add triaging * feat: fix bindings, add led tuning mode --------- Co-authored-by: David :D <[email protected]>
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38 changes: 38 additions & 0 deletions
38
src/main/java/org/team1540/robot2024/subsystems/led/LedTriager.java
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|---|---|---|
| @@ -0,0 +1,38 @@ | ||
| package org.team1540.robot2024.subsystems.led; | ||
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| import org.team1540.robot2024.subsystems.led.patterns.LedPattern; | ||
| import org.team1540.robot2024.subsystems.led.patterns.LedPatternFlame; | ||
| import org.team1540.robot2024.subsystems.led.patterns.LedPatternRainbow; | ||
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| public class LedTriager { | ||
| private final LedPattern[] patterns = new LedPattern[Leds.CRITICALITY_COUNT]; | ||
| private final LedPattern defaultPattern = new LedPatternRainbow(1); | ||
| private boolean isNew = true; | ||
| public LedPattern getPattern() { | ||
| for (int i = patterns.length -1; i >= 0; i--) { | ||
| if (patterns[i] != null) { | ||
| return patterns[i]; | ||
| } | ||
| } | ||
| return defaultPattern; | ||
| } | ||
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| public boolean shouldRefresh() { | ||
| final boolean val = isNew || getPattern().isDynamic(); | ||
| isNew = false; | ||
| return val; | ||
| } | ||
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| public void clearPattern(Leds.PatternCriticality criticality) { | ||
| patterns[criticality.ordinal()] = null; | ||
| isNew = true; | ||
| } | ||
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| public boolean addPattern(LedPattern pattern, Leds.PatternCriticality criticality) { | ||
| patterns[criticality.ordinal()] = pattern; | ||
| isNew = true; | ||
| return getPattern() == pattern; | ||
| } | ||
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| } |
80 changes: 80 additions & 0 deletions
80
src/main/java/org/team1540/robot2024/subsystems/led/Leds.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,80 @@ | ||
| package org.team1540.robot2024.subsystems.led; | ||
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| import edu.wpi.first.wpilibj.AddressableLED; | ||
| import edu.wpi.first.wpilibj.AddressableLEDBuffer; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
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| import org.team1540.robot2024.subsystems.led.patterns.LedPattern; | ||
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| import java.util.function.Supplier; | ||
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| import static org.team1540.robot2024.Constants.Leds.*; | ||
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| public class Leds extends SubsystemBase { | ||
| private final AddressableLEDBuffer ledBuffer = new AddressableLEDBuffer(LED_STRIP_LENGTH); | ||
| private final AddressableLED strip = new AddressableLED(LED_STRIP_PORT_PWM); | ||
| private final ZonedAddressableLEDBuffer[] buffers = new ZonedAddressableLEDBuffer[ZONE_COUNT]; | ||
| private final LedTriager[] patterns = new LedTriager[ZONE_COUNT]; | ||
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| public Leds() { | ||
| strip.setLength(ledBuffer.getLength()); | ||
| strip.setData(ledBuffer); | ||
| strip.start(); | ||
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| buffers[Zone.ELEVATOR_BACK.ordinal()] = new ZonedAddressableLEDBuffer(ledBuffer, 1, 41, false); | ||
| for (int i = 0; i < ZONE_COUNT;i++) { | ||
| patterns[i] = new LedTriager(); | ||
| } | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| for (int i = 0; i < ZONE_COUNT;i++) { | ||
| if (patterns[i].shouldRefresh()) { | ||
| patterns[i].getPattern().apply(buffers[i]); | ||
| } | ||
| } | ||
| strip.setData(ledBuffer); | ||
| } | ||
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| public void setPattern(Zone zone, LedPattern pattern, PatternCriticality criticality) { | ||
| patterns[zone.ordinal()].addPattern(pattern, criticality); | ||
| pattern.setLength(buffers[zone.ordinal()].getLength()); | ||
| } | ||
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| public void setPattern(Zone zone, LedPattern pattern) { | ||
| setPattern(zone, pattern, PatternCriticality.INFO); | ||
| } | ||
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| public void clearPattern(Zone zone, PatternCriticality criticality) { | ||
| patterns[zone.ordinal()].clearPattern(criticality); | ||
| } | ||
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| 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()); | ||
| } | ||
| } | ||
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| public void clearFatalPattern() { | ||
| for (int i = 0; i<ZONE_COUNT;i++) { | ||
| patterns[i].clearPattern(PatternCriticality.FATAL); | ||
| } | ||
| } | ||
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| private static final int ZONE_COUNT=Zone.values().length; | ||
| public enum Zone { | ||
| ELEVATOR_BACK, | ||
| } | ||
| static final int CRITICALITY_COUNT=PatternCriticality.values().length; | ||
| public enum PatternCriticality { | ||
| DECORATION, | ||
| INFO, | ||
| CRITICAL, | ||
| FATAL | ||
| } | ||
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| } |
63 changes: 63 additions & 0 deletions
63
src/main/java/org/team1540/robot2024/subsystems/led/ZonedAddressableLEDBuffer.java
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| @@ -0,0 +1,63 @@ | ||
| package org.team1540.robot2024.subsystems.led; | ||
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| import edu.wpi.first.wpilibj.AddressableLEDBuffer; | ||
| import edu.wpi.first.wpilibj.DriverStation; | ||
| import edu.wpi.first.wpilibj.util.Color; | ||
| import edu.wpi.first.wpilibj.util.Color8Bit; | ||
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| public class ZonedAddressableLEDBuffer { | ||
| private final boolean isInverted; | ||
| private final int start; | ||
| private final int length; | ||
| private final AddressableLEDBuffer buffer; | ||
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| public ZonedAddressableLEDBuffer(AddressableLEDBuffer buffer, int start, int end, boolean isInverted) { | ||
| if (start > end) { | ||
| throw new IllegalArgumentException("start must be less than end"); | ||
| } | ||
| this.buffer = buffer; | ||
| this.isInverted = isInverted; | ||
| this.start = start; | ||
| this.length = end - start; | ||
| } | ||
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| public void setRGB(int index, int r, int g, int b) { | ||
| buffer.setRGB(this.getAbsoluteIndex(index), r, g, b); | ||
| } | ||
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| public void setHSV(int index, int h, int s, int v) { | ||
| buffer.setHSV(this.getAbsoluteIndex(index), h, s, v); | ||
| } | ||
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| public void setLED(int index, Color color) { | ||
| buffer.setLED(this.getAbsoluteIndex(index), color); | ||
| } | ||
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| public void setLED(int index, Color8Bit color) { | ||
| buffer.setLED(this.getAbsoluteIndex(index), color); | ||
| } | ||
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| public Color getLED(int index) { | ||
| return buffer.getLED(this.getAbsoluteIndex(index)); | ||
| } | ||
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| public Color8Bit getLED8Bit(int index) { | ||
| return buffer.getLED8Bit(this.getAbsoluteIndex(index)); | ||
| } | ||
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| public int getLength() { | ||
| return this.length; | ||
| } | ||
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| private int getAbsoluteIndex(int index) { | ||
| if (index >= length) { | ||
| DriverStation.reportWarning("led index out of bounds", false); | ||
| return 0; | ||
| } | ||
| if (this.isInverted) { | ||
| return this.start + length - 1 - index; | ||
| } else { | ||
| return this.start + index; | ||
| } | ||
| } | ||
| } |
47 changes: 47 additions & 0 deletions
47
src/main/java/org/team1540/robot2024/subsystems/led/patterns/LedPattern.java
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,47 @@ | ||
| package org.team1540.robot2024.subsystems.led.patterns; | ||
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| import edu.wpi.first.wpilibj.util.Color; | ||
| import org.team1540.robot2024.subsystems.led.ZonedAddressableLEDBuffer; | ||
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| public abstract class LedPattern { | ||
| private final boolean isDynamic; | ||
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| protected LedPattern(boolean isDynamic) { | ||
| this.isDynamic = isDynamic; | ||
| } | ||
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| public final boolean isDynamic() { | ||
| return isDynamic; | ||
| } | ||
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| public abstract void apply(ZonedAddressableLEDBuffer buffer); | ||
| public void setLength(int length) {} | ||
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| protected static int getHue(Color color) { | ||
| final int red = (int) color.red * 255; | ||
| final int green = (int) color.green * 255; | ||
| final int blue = (int) color.blue * 255; | ||
| float min = Math.min(Math.min(red, green), blue); | ||
| float max = Math.max(Math.max(red, green), blue); | ||
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| if (min == max) { | ||
| return 0; | ||
| } | ||
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| float hue = 0f; | ||
| if (max == red) { | ||
| hue = (green - blue) / (max - min); | ||
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| } else if (max == green) { | ||
| hue = 2f + (blue - red) / (max - min); | ||
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| } else { | ||
| hue = 4f + (red - green) / (max - min); | ||
| } | ||
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| hue = hue * 60; | ||
| if (hue < 0) hue = hue + 360; | ||
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| return Math.round(hue); | ||
| } | ||
| } |
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