LEDs

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

@@ -4,6 +4,7 @@
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.WaitCommand;
@@ -72,7 +73,7 @@ private void configureButtonBindings() {
         drivetrain.setDefaultCommand(drivetrain.driveCommand(driver));
         driver.a().whileTrue(hatch.hatchUpCommand());
         driver.a().whileTrue(hatch.hatchNeutralCommand());
-        driver.leftTrigger().whileTrue(intake.intakeCommand());
+        driver.leftTrigger().whileTrue(intake.intakeCommand(Color.kPurple, Color.kWhiteSmoke));
         driver.rightTrigger().whileTrue(intake.outtakeCommand());
     }
 

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

@@ -0,0 +1,128 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.AddressableLED;
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+/**
+ * This is the class header for the LEDs Subsystem
+ */
+public class LEDs extends SubsystemBase {
+    private AddressableLEDBuffer controLedBuffer;
+    @SuppressWarnings("IOCheck")
+    private AddressableLED addressableLED;
+
+    /**
+     * constructs a LED Subsystem
+     *
+     * @param length length of the addressable LEDS
+     * @param port port ID for PWM
+     */
+    public LEDs(int length, int port) {
+        controLedBuffer = new AddressableLEDBuffer(length);
+        addressableLED = new AddressableLED(port);
+
+        addressableLED.setLength(controLedBuffer.getLength());
+        addressableLED.setData(controLedBuffer);
+        addressableLED.start();
+    }
+
+    /**
+     * Get LED strip length
+     *
+     * @return number of LEDs
+     */
+    public int getLength() {
+        return controLedBuffer.getLength();
+    }
+
+    /**
+     * Set individual LED color via HSV
+     *
+     * @param index the LED index to set
+     * @param h the h value [0-180)
+     * @param s the s value [0-255]
+     * @param v the v value [0-255]
+     */
+    public void setHSV(int index, int h, int s, int v) {
+        controLedBuffer.setHSV(index, h, s, v);
+    }
+
+    /**
+     * Sets the LED output data.
+     */
+    public void setData() {
+        addressableLED.setData(controLedBuffer);
+    }
+
+    /**
+     * Set individual LED color via RGB
+     *
+     * @param index the LED index to set
+     * @param r the r value [0-255]
+     * @param g the g value [0-255]
+     * @param b the b value [0-255]
+     */
+    public void setRGB(int index, int r, int g, int b) {
+        controLedBuffer.setRGB(index, r, g, b);
+    }
+
+    /**
+     * Sets RGB Color of the entire LED strip
+     *
+     * @param r - [0 - 255]
+     * @param g - [0 - 255]
+     * @param b - [0 - 255]
+     */
+    public void setRGB(int r, int g, int b) {
+        for (var i = 0; i < getLength(); i++) {
+            setRGB(i, r, g, b);
+        }
+        setData();
+    }
+
+    /**
+     * Set individual LED color via Color
+     *
+     * @param index the LED index to set
+     * @param color The color of the LED
+     */
+    public void setColor(int index, Color color) {
+        controLedBuffer.setLED(index, color);
+    }
+
+    /**
+     * Sets the Color of the entire LED strip
+     *
+     * @param color color set for the LEDs
+     */
+    public void setColor(Color color) {
+        for (var i = 0; i < getLength(); i++) {
+            setColor(i, color);
+        }
+        setData();
+    }
+
+    public Color getColor(int index) {
+        return controLedBuffer.getLED(index);
+    }
+
+    private int flashingDelay = 0;
+
+
+    public void flash(Color color, Color altColor) {
+        if (flashingDelay < 10) {
+            for (var i = 0; i < getLength(); i++) {
+                setColor(i, color);
+            }
+        } else {
+            for (var i = 0; i < getLength(); i++) {
+                setColor(i, altColor);
+            }
+        }
+        setData();
+        flashingDelay++;
+        flashingDelay %= 20;
+    }
+}

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

@@ -1,12 +1,15 @@
 package frc.robot.subsystems.ballMechanism;
 
+import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.subsystems.LEDs;
 
 public class ballMechanism extends SubsystemBase {
     ballMechanismIO io;
     ballMechanismInputsAutoLogged intakeAutoLogged = new ballMechanismInputsAutoLogged();
+    LEDs lights = new LEDs(9, 100);
 
     public ballMechanism(ballMechanismIO io) {
         this.io = io;
@@ -31,12 +34,13 @@ public boolean getOuttakeBeamBrakeStatus() {
         return intakeAutoLogged.outtakeBeamBrake;
     }
 
-    public Command intakeCommand() {
+    public Command intakeCommand(Color color, Color altColor) {
         return Commands.startEnd(() -> {
             setBallMotor(1);
         }, () -> {
             setBallMotor(0);
-        }, this).until(() -> getIntakeBeamBreakStatus()).unless(() -> getIntakeBeamBreakStatus());
+        }, this).until(() -> getIntakeBeamBreakStatus()).unless(() -> getIntakeBeamBreakStatus())
+            .andThen(() -> lights.flash(color, altColor));
 
     }