LED animations: solid, rainbow, gradient, value mask

blair-robot-project · Mar 6, 2025 · 1769ead · 1769ead
1 parent 552e140
commit 1769ead
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Showing 12 changed files with 65 additions and 276 deletions.
diff --git a/build.gradle b/build.gradle
@@ -10,6 +10,9 @@ java {
     sourceCompatibility = JavaVersion.VERSION_17
     targetCompatibility = JavaVersion.VERSION_17
 }
+kotlin {
+    jvmToolchain(17)
+}
 
 def ROBOT_MAIN_CLASS = "frc.team449.Main"
 

diff --git a/src/main/kotlin/frc/team449/RobotLoop.kt b/src/main/kotlin/frc/team449/RobotLoop.kt
@@ -15,9 +15,6 @@ import edu.wpi.first.wpilibj2.command.Command
 import edu.wpi.first.wpilibj2.command.CommandScheduler
 import edu.wpi.first.wpilibj2.command.InstantCommand
 import frc.team449.auto.RoutineChooser
-import frc.team449.commands.light.BlairChasing
-import frc.team449.commands.light.BreatheHue
-import frc.team449.commands.light.Rainbow
 import frc.team449.subsystems.FieldConstants
 import frc.team449.subsystems.drive.swerve.SwerveSim
 import frc.team449.subsystems.superstructure.SuperstructureGoal
@@ -89,8 +86,6 @@ class RobotLoop : TimedRobot() {
     SmartDashboard.putData("Routine Chooser", routineChooser)
     SmartDashboard.putData("Command Scheduler", CommandScheduler.getInstance())
 
-    robot.light.defaultCommand = BlairChasing(robot.light)
-
     controllerBinder.bindButtons()
 
     DogLog.setOptions(
@@ -114,6 +109,8 @@ class RobotLoop : TimedRobot() {
     if (RobotBase.isReal()) {
       robot.wrist.startupZero()
     }
+
+    robot.light.defaultCommand = robot.light.progressMask({ robot.elevator.positionSupplier.get() })
   }
 
   override fun driverStationConnected() {
@@ -134,12 +131,6 @@ class RobotLoop : TimedRobot() {
     /** Every time auto starts, we update the chosen auto command. */
     this.autoCommand = routineMap[if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Red) "Red" + routineChooser.selected else "Blue" + routineChooser.selected]
     CommandScheduler.getInstance().schedule(this.autoCommand)
-
-    if (DriverStation.getAlliance().getOrNull() == DriverStation.Alliance.Red) {
-      BreatheHue(robot.light, 0).schedule()
-    } else {
-      BreatheHue(robot.light, 95).schedule()
-    }
   }
 
   override fun autonomousPeriodic() {}
@@ -163,7 +154,6 @@ class RobotLoop : TimedRobot() {
     robot.drive.stop()
 
     (robot.light.currentCommand ?: InstantCommand()).cancel()
-    Rainbow(robot.light).schedule()
   }
 
   override fun disabledPeriodic() {}

diff --git a/src/main/kotlin/frc/team449/commands/light/BlairChasing.kt b/src/main/kotlin/frc/team449/commands/light/BlairChasing.kt
diff --git a/src/main/kotlin/frc/team449/commands/light/BreatheHue.kt b/src/main/kotlin/frc/team449/commands/light/BreatheHue.kt
diff --git a/src/main/kotlin/frc/team449/commands/light/Crazy.kt b/src/main/kotlin/frc/team449/commands/light/Crazy.kt
diff --git a/src/main/kotlin/frc/team449/commands/light/PickupBlink.kt b/src/main/kotlin/frc/team449/commands/light/PickupBlink.kt
diff --git a/src/main/kotlin/frc/team449/commands/light/Rainbow.kt b/src/main/kotlin/frc/team449/commands/light/Rainbow.kt
diff --git a/src/main/kotlin/frc/team449/commands/light/SolidColor.kt b/src/main/kotlin/frc/team449/commands/light/SolidColor.kt
diff --git a/src/main/kotlin/frc/team449/subsystems/drive/swerve/SwerveDrive.kt b/src/main/kotlin/frc/team449/subsystems/drive/swerve/SwerveDrive.kt
@@ -17,7 +17,6 @@ import kotlin.math.hypot
 /**
  * A Swerve Drive chassis.
  * @param modules An array of [SwerveModule]s that are on the drivetrain.
- * @param ahrs The gyro that is mounted on the chassis.
  * @param maxLinearSpeed The maximum translation speed of the chassis.
  * @param maxRotSpeed The maximum rotation speed of the chassis.
  * @param field The SmartDashboard [Field2d] widget that shows the robot's pose.