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34 changes: 34 additions & 0 deletions
34
src/main/java/org/team1540/robot2024/subsystems/led/LedPattern.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,34 @@ | ||
| package org.team1540.robot2024.subsystems.led; | ||
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| import edu.wpi.first.wpilibj.AddressableLEDBuffer; | ||
| import edu.wpi.first.wpilibj.util.Color; | ||
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| import java.util.function.Consumer; | ||
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| public class LedPattern { | ||
| private final Consumer<ZonedAddressableLEDBuffer> applier; | ||
| public final boolean isDynamic; | ||
| LedPattern(Consumer<ZonedAddressableLEDBuffer> applier, boolean isDynamic) { | ||
| this.applier = applier; | ||
| this.isDynamic = isDynamic; | ||
| } | ||
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| void apply(ZonedAddressableLEDBuffer buffer) { | ||
| this.applier.accept(buffer); | ||
| } | ||
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| public static LedPattern solid(Color color) { | ||
| return new LedPattern((buffer) -> { | ||
| for (int i = 0; i<buffer.getLength();i++) { | ||
| buffer.setLED(i, color); | ||
| } | ||
| }, false); | ||
| } | ||
| public static LedPattern alternating(Color a, Color b) { | ||
| return new LedPattern((buffer) -> { | ||
| for (int i = 0; i<buffer.getLength();i++) { | ||
| buffer.setLED(i, i % 2 == 0 ? a : b); | ||
| } | ||
| }, false); | ||
| } | ||
| } |
23 changes: 23 additions & 0 deletions
23
src/main/java/org/team1540/robot2024/subsystems/led/LedPatternRainbow.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,23 @@ | ||
| package org.team1540.robot2024.subsystems.led; | ||
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| import static java.lang.Math.round; | ||
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| public class LedPatternRainbow extends LedPattern { | ||
| private final int speed; | ||
| int initialHue = 0; | ||
| public LedPatternRainbow(int speed) { | ||
| super(null, true); | ||
| this.speed = speed; | ||
| } | ||
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| @Override | ||
| void apply(ZonedAddressableLEDBuffer buffer) { | ||
| for (int i = 0; i < buffer.getLength(); i++) { | ||
| int hue = (initialHue + (i * 180 / buffer.getLength())) % 180; | ||
| buffer.setHSV(i, hue, 255, 128); | ||
| } | ||
| initialHue += speed; | ||
| initialHue %= 180; | ||
| } | ||
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| } |
50 changes: 50 additions & 0 deletions
50
src/main/java/org/team1540/robot2024/subsystems/led/Leds.java
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,50 @@ | ||
| 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; | ||
| import org.team1540.robot2024.Constants; | ||
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| import static org.team1540.robot2024.Constants.LED_STRIP_PORT_PWM; | ||
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| public class Leds extends SubsystemBase { | ||
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| private final AddressableLEDBuffer ledBuffer = new AddressableLEDBuffer(Constants.LED_STRIP_LENGTH); | ||
| private final AddressableLED strip = new AddressableLED(LED_STRIP_PORT_PWM); | ||
| private final ZonedAddressableLEDBuffer[] buffers = new ZonedAddressableLEDBuffer[ZONE_COUNT]; | ||
| private final LedPattern[] patterns = new LedPattern[ZONE_COUNT]; | ||
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| public Leds() { | ||
| strip.setLength(ledBuffer.getLength()); | ||
| strip.setData(ledBuffer); | ||
| strip.start(); | ||
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| buffers[Zone.ZONE1.ordinal()] = new ZonedAddressableLEDBuffer(ledBuffer, 0, 40, false); | ||
| buffers[Zone.ZONE2.ordinal()] = new ZonedAddressableLEDBuffer(ledBuffer, 40, 80, false); | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| for (int i = 0; i < ZONE_COUNT;i++) { | ||
| if (patterns[i].isDynamic) { | ||
| patterns[i].apply(buffers[i]); | ||
| } | ||
| } | ||
| strip.setData(ledBuffer); | ||
| } | ||
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| public void setPattern(Zone zone, LedPattern pattern) { | ||
| patterns[zone.ordinal()] = pattern; | ||
| if (!pattern.isDynamic) { | ||
| pattern.apply(buffers[zone.ordinal()]); | ||
| } | ||
| } | ||
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| private static final int ZONE_COUNT=Zone.values().length; | ||
| public enum Zone { | ||
| ZONE1, | ||
| ZONE2; | ||
| } | ||
| } |
64 changes: 64 additions & 0 deletions
64
src/main/java/org/team1540/robot2024/subsystems/led/ZonedAddressableLEDBuffer.java
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,64 @@ | ||
| 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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| class ZonedAddressableLEDBuffer { | ||
| private final AddressableLEDBuffer buffer; | ||
| public final boolean isInverted; | ||
| public final int start; | ||
| public final int length; | ||
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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) { | ||
| System.out.println(this.getAbsoluteIndex(index)); | ||
| 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; | ||
| } | ||
| } | ||
| } |