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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,34 @@ | ||
| package org.sciborgs1155.lib; | ||
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| import com.ctre.phoenix6.configs.TalonFXConfiguration; | ||
| import com.ctre.phoenix6.hardware.TalonFX; | ||
| import java.util.function.DoubleConsumer; | ||
|
|
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| public class SimpleMotor { | ||
| private final DoubleConsumer set; | ||
| private final Runnable close; | ||
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| public SimpleMotor(DoubleConsumer set, Runnable close) { | ||
| this.set = set; | ||
| this.close = close; | ||
| } | ||
|
|
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| public static SimpleMotor talon(TalonFX talon, TalonFXConfiguration config) { | ||
| FaultLogger.register(talon); | ||
| TalonUtils.addMotor(talon); | ||
| talon.getConfigurator().apply(config); | ||
| return new SimpleMotor(talon::set, talon::close); | ||
| } | ||
|
|
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| public static SimpleMotor none() { | ||
| return new SimpleMotor(v -> {}, () -> {}); | ||
| } | ||
|
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| public void set(double power) { | ||
| set.accept(power); | ||
| } | ||
|
|
||
| public void close() { | ||
| close.run(); | ||
| } | ||
| } |
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12 changes: 12 additions & 0 deletions
12
src/main/java/org/sciborgs1155/robot/led/LEDConstants.java
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,12 @@ | ||
| package org.sciborgs1155.robot.led; | ||
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| import static edu.wpi.first.units.Units.Meters; | ||
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| import edu.wpi.first.units.measure.Distance; | ||
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| public class LEDConstants { | ||
| // The length of the LED Strip. | ||
| public static final int LED_LENGTH = 64; | ||
| // The distance between two LEDs on the LED Strip. | ||
| public static final Distance LED_SPACING = Meters.of(0.01); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,96 @@ | ||
| package org.sciborgs1155.robot.led; | ||
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| import static edu.wpi.first.units.Units.MetersPerSecond; | ||
| import static edu.wpi.first.units.Units.Seconds; | ||
| import static org.sciborgs1155.robot.Ports.LEDs.*; | ||
| import static org.sciborgs1155.robot.led.LEDConstants.*; | ||
|
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| import edu.wpi.first.wpilibj.AddressableLED; | ||
| import edu.wpi.first.wpilibj.AddressableLEDBuffer; | ||
| import edu.wpi.first.wpilibj.DriverStation.Alliance; | ||
| import edu.wpi.first.wpilibj.LEDPattern; | ||
| import edu.wpi.first.wpilibj.RobotController; | ||
| import edu.wpi.first.wpilibj.util.Color; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import java.util.Map; | ||
| import java.util.function.DoubleSupplier; | ||
| import monologue.Logged; | ||
| import org.sciborgs1155.robot.Constants; | ||
|
|
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| public class LEDStrip extends SubsystemBase implements Logged, AutoCloseable { | ||
|
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| private final AddressableLED led = new AddressableLED(LED_PORT); | ||
| private final AddressableLEDBuffer buffer; | ||
|
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| public LEDStrip() { | ||
| led.setLength(LED_LENGTH); | ||
| buffer = new AddressableLEDBuffer(LED_LENGTH); | ||
| led.setData(buffer); | ||
| led.start(); | ||
| } | ||
|
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| /** Rainbow LEDs, scrolling at 0.5 m/s. Very cool. */ | ||
| public Command rainbow() { | ||
| return set( | ||
| LEDPattern.rainbow(225, 225).scrollAtAbsoluteSpeed(MetersPerSecond.of(0.5), LED_SPACING)); | ||
| } | ||
|
|
||
| /** | ||
| * A gradient of green to yellow LEDs, with an applied mask of how much the elevator is raised. | ||
| * | ||
| * @param percent A double supplier that supplies the elevator's percent raised. | ||
| */ | ||
| public Command elevatorLED(DoubleSupplier percent) { | ||
| return set( | ||
| LEDPattern.gradient(LEDPattern.GradientType.kDiscontinuous, Color.kGreen, Color.kYellow) | ||
| .mask(LEDPattern.progressMaskLayer(percent))); | ||
| } | ||
|
|
||
| /** A gradient of green to yellow LEDs, moving at 60 bpm, which synchronizes with many song. */ | ||
| public Command music() { | ||
| return set( | ||
| LEDPattern.gradient(LEDPattern.GradientType.kDiscontinuous, Color.kGreen, Color.kYellow) | ||
| .mask( | ||
| LEDPattern.progressMaskLayer( | ||
| () -> | ||
| Math.sin(RobotController.getMeasureTime().in(Seconds) * Math.PI * 2) / 3 | ||
| + 0.5))); | ||
| } | ||
|
|
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| /** A solid yellow green that is scrolled through. */ | ||
| public Command scrolling() { | ||
| return set( | ||
| LEDPattern.solid(Color.kGreenYellow) | ||
| .mask( | ||
| LEDPattern.steps(Map.of(0, Color.kWhite, 0.5, Color.kBlack)) | ||
| .scrollAtAbsoluteSpeed(MetersPerSecond.of(0.5), LED_SPACING))); | ||
| } | ||
|
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| /** A breathing gradient that matches the alliance colors. */ | ||
| public Command autos() { | ||
| if (Constants.alliance() == Alliance.Red) { | ||
| return set( | ||
| LEDPattern.gradient( | ||
| LEDPattern.GradientType.kDiscontinuous, Color.kFirstRed, Color.kOrangeRed) | ||
| .breathe(Seconds.of(2))); | ||
| } else { | ||
| return set( | ||
| LEDPattern.gradient(LEDPattern.GradientType.kDiscontinuous, Color.kFirstBlue, Color.kAqua) | ||
| .breathe(Seconds.of(2))); | ||
| } | ||
| } | ||
|
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| public Command set(LEDPattern pattern) { | ||
| return run( | ||
| () -> { | ||
| pattern.applyTo(buffer); | ||
| led.setData(buffer); | ||
| }); | ||
| } | ||
|
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| @Override | ||
| public void close() throws Exception { | ||
| led.close(); | ||
| } | ||
| } |
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30 changes: 0 additions & 30 deletions
30
src/main/java/org/sciborgs1155/robot/scoral/RealScoral.java
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