Merge AddressableLED subsystem

src/main/java/frc/robot/Constants.java

@@ -92,6 +92,11 @@ private static RobotType determineRobotType() {
     return null;
   }
 
+  /**
+   * Set this to true to completely disable usage of the AddressableLED subsystem, no matter what
+   */
+  public static boolean MASTER_LED_DISABLE = false;
+
   private static final Alert wrongRobotTypeAlertReal =
       new Alert(
           String.format(

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

@@ -17,6 +17,7 @@
 import edu.wpi.first.wpilibj.RobotBase;
 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.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.Commands;
@@ -30,6 +31,7 @@
 import frc.robot.commands.controllers.SpeedLevelController;
 import frc.robot.commands.intake.SetIntakeSpeed;
 import frc.robot.commands.wrist.SetWrist;
+import frc.robot.subsystems.addressableled.AddressableLEDSubsystem;
 import frc.robot.subsystems.dashboard.DriverDashboard;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.DriveConstants;
@@ -86,6 +88,7 @@ public class RobotContainer {
   private final Wrist wrist;
   private final AlgaeIntake algaeIntake;
   private final CoralIntake coralIntake;
+  private final AddressableLEDSubsystem led;
 
   private final Hang hang;
 
@@ -145,6 +148,7 @@ public RobotContainer() {
         elevator = new Elevator(new ElevatorIOHardwareFollow(ElevatorConstants.ELEVATOR_CONFIG));
         hang = new Hang(new HangIOHardwareRelative(HangConstants.HANG_CONFIG));
         wrist = new Wrist(new WristIO() {});
+        led = new AddressableLEDSubsystem(false);
 
         // algaeIntake =
         //     new AlgaeIntake(
@@ -181,6 +185,7 @@ public RobotContainer() {
 
         algaeIntake = new AlgaeIntake(new IntakeIO() {});
         coralIntake = new CoralIntake(new IntakeIO() {});
+        led = new AddressableLEDSubsystem(true);
 
         break;
 
@@ -201,6 +206,7 @@ public RobotContainer() {
 
         algaeIntake = new AlgaeIntake(new IntakeIO() {});
         coralIntake = new CoralIntake(new IntakeIO() {});
+        led = new AddressableLEDSubsystem(true);
 
         break;
 
@@ -221,6 +227,7 @@ public RobotContainer() {
 
         algaeIntake = new AlgaeIntake(new IntakeIO() {});
         coralIntake = new CoralIntake(new IntakeIO() {});
+        led = new AddressableLEDSubsystem(true);
 
         break;
 
@@ -245,6 +252,7 @@ public RobotContainer() {
         wrist = new Wrist(new WristIOSim());
         algaeIntake = new AlgaeIntake(new IntakeIOSim());
         coralIntake = new CoralIntake(new IntakeIOSim());
+        led = new AddressableLEDSubsystem(true);
         break;
 
       default:
@@ -264,12 +272,13 @@ public RobotContainer() {
 
         algaeIntake = new AlgaeIntake(new IntakeIO() {});
         coralIntake = new CoralIntake(new IntakeIO() {});
+        led = new AddressableLEDSubsystem(true);
 
         break;
     }
 
     // Superstructure
-    superstructure = new Superstructure(elevator, wrist);
+    superstructure = new Superstructure(elevator, wrist, led);
 
     // Vision setup
     // vision.setLastRobotPoseSupplier(drive::getRobotPose);
@@ -504,18 +513,23 @@ private void configureDriverControllerBindings(boolean includeAutoAlign) {
   private void configureOperatorControllerBindings() {
     operatorController.back().onTrue(drive.runOnce(drive::stop).withName("CANCEL and stop"));
 
-    configureOperatorControllerBindingLevel(operatorController.y(), Superstructure.State.L4);
-    configureOperatorControllerBindingLevel(operatorController.x(), Superstructure.State.L3);
-    configureOperatorControllerBindingLevel(operatorController.b(), Superstructure.State.L2);
-    configureOperatorControllerBindingLevel(operatorController.a(), Superstructure.State.L1);
+    configureOperatorControllerBindingLevel(
+        operatorController.y(), Superstructure.State.L4, Color.kAqua);
+    configureOperatorControllerBindingLevel(
+        operatorController.x(), Superstructure.State.L3, Color.kGold);
+    configureOperatorControllerBindingLevel(
+        operatorController.b(), Superstructure.State.L2, Color.kLime);
+    configureOperatorControllerBindingLevel(
+        operatorController.a(), Superstructure.State.L1, Color.kPurple);
 
     operatorController.leftBumper().whileTrue(hang.set(+0.5).withName("Hang Arm Up"));
     operatorController.rightBumper().whileTrue(hang.set(-0.5).withName("Hang Arm Down"));
   }
 
   private void configureOperatorControllerBindingLevel(
-      Trigger trigger, Superstructure.State state) {
+      Trigger trigger, Superstructure.State state, Color color) {
     trigger.onTrue(superstructure.setNextPrepare(state));
+
     trigger.and(operatorController.rightTrigger()).onTrue(superstructure.runPrepare(state));
   }
 

src/main/java/frc/robot/commands/SetAddressableLEDPattern.java

@@ -0,0 +1,57 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.LEDPattern;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.addressableled.AddressableLEDSubsystem;
+
+public class SetAddressableLEDPattern extends Command {
+  private final AddressableLEDSubsystem ledSystem;
+
+  /**
+   * @apiNote If this is empty, that means that this command is targeting the whole strip
+   */
+  private final int[] sections;
+
+  private final LEDPattern pattern;
+
+  /**
+   * @param led Addressable LED subsystem to use
+   * @param pattern Pattern to apply when command run
+   * @param section Section of LED strip to apply pattern to (index into
+   *     AddressableLEDConstants.SECTIONS)
+   */
+  public SetAddressableLEDPattern(
+      AddressableLEDSubsystem ledSystem, LEDPattern pattern, int... sections) {
+    this.sections = sections;
+    this.pattern = pattern;
+    this.ledSystem = ledSystem;
+    addRequirements(ledSystem);
+  }
+
+  /**
+   * @param led Addressable LED subsystem to use
+   * @param pattern Pattern to apply when command run
+   */
+  public SetAddressableLEDPattern(AddressableLEDSubsystem ledSystem, LEDPattern pattern) {
+    sections = new int[0];
+    this.pattern = pattern;
+    this.ledSystem = ledSystem;
+    addRequirements(ledSystem);
+  }
+
+  @Override
+  public void execute() {
+    if (sections.length <= 0) {
+      ledSystem.applyPattern(pattern);
+    } else {
+      for (int i = 0; i < sections.length; i++) {
+        ledSystem.applySectionedPattern(pattern, sections[i]);
+      }
+    }
+  }
+
+  @Override
+  public boolean isFinished() {
+    return true;
+  }
+}

src/main/java/frc/robot/commands/SetBlinkinLEDPattern.java

@@ -0,0 +1,43 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.blinkinled.BlinkinLEDSubsystem;
+
+public class SetBlinkinLEDPattern extends Command {
+  private BlinkinLEDSubsystem ledSystem;
+  private double pattern;
+
+  /**
+   * @apiNote If this is -1, that means that this command is targeting the whole strip
+   */
+  private int section;
+
+  private boolean invalid;
+
+  public SetBlinkinLEDPattern(BlinkinLEDSubsystem ledSystem, int section, double pattern) {
+    invalid = (section < -1 || section >= ledSystem.stripCount);
+    this.section = section;
+    this.ledSystem = ledSystem;
+    this.pattern = pattern;
+  }
+
+  public SetBlinkinLEDPattern(BlinkinLEDSubsystem led, double pattern) {
+    this(led, -1, pattern);
+  }
+
+  @Override
+  public void initialize() {
+    if (invalid) return;
+    if (section == -1) {
+      ledSystem.applyPatternToAll(pattern);
+    } else {
+      ledSystem.applyPatternTo(section, pattern);
+    }
+  }
+
+  // Since executing the command is a one-time thing, we always report being done instantly
+  @Override
+  public boolean isFinished() {
+    return true;
+  }
+}

src/main/java/frc/robot/commands/test/AddressableLEDTestCommand.java

@@ -0,0 +1,58 @@
+package frc.robot.commands.test;
+
+import static edu.wpi.first.units.Units.MetersPerSecond;
+import static edu.wpi.first.units.Units.Seconds;
+
+import edu.wpi.first.wpilibj.LEDPattern;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.addressableled.AddressableLEDConstants;
+import frc.robot.subsystems.addressableled.AddressableLEDSubsystem;
+
+public class AddressableLEDTestCommand extends Command {
+  private final AddressableLEDSubsystem ledSystem;
+  private LEDPattern currentPattern;
+  private int ticker = 0;
+  private int testCount = 0;
+
+  public AddressableLEDTestCommand(AddressableLEDSubsystem ledSystem) {
+    this.ledSystem = ledSystem;
+    addRequirements(ledSystem);
+  }
+
+  @Override
+  public void initialize() {
+    ticker = 0;
+    testCount = 0;
+    currentPattern =
+        LEDPattern.rainbow(255, 128)
+            .scrollAtAbsoluteSpeed(MetersPerSecond.of(1), AddressableLEDConstants.LED_DENSITY);
+  }
+
+  @Override
+  public void execute() {
+    if (ticker < 500) {
+      ticker++;
+    } else {
+      ticker = 0;
+      ledSystem.applySectionedPattern(LEDPattern.kOff, testCount);
+      testCount++;
+      if (testCount == AddressableLEDConstants.SECTIONS.length) {
+        currentPattern = LEDPattern.solid(Color.kLimeGreen).breathe(Seconds.of(2));
+        ledSystem.applyPattern(currentPattern);
+      } else {
+        ledSystem.applySectionedPattern(currentPattern, testCount);
+      }
+    }
+  }
+
+  @Override
+  public boolean isFinished() {
+    return testCount < (AddressableLEDConstants.SECTIONS.length + 1);
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    ledSystem.applyPattern(LEDPattern.kOff);
+  }
+}

src/main/java/frc/robot/commands/test/LEDTestCommand.java → src/main/java/frc/robot/commands/test/BlinkinLEDTestCommand.java

@@ -1,11 +1,11 @@
 package frc.robot.commands.test;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.led.LEDConstants;
-import frc.robot.subsystems.led.LEDSubsystem;
+import frc.robot.subsystems.blinkinled.BlinkinLEDConstants;
+import frc.robot.subsystems.blinkinled.BlinkinLEDSubsystem;
 
-public class LEDTestCommand extends Command {
-  private LEDSubsystem ledSystem;
+public class BlinkinLEDTestCommand extends Command {
+  private BlinkinLEDSubsystem ledSystem;
 
   private double currentPattern;
 
@@ -17,14 +17,14 @@ public class LEDTestCommand extends Command {
    * @param time Time in robot updates to wait between changes (each update is 20ms, so 50 updates
    *     is 1 second)
    */
-  public LEDTestCommand(LEDSubsystem led, int time) {
+  public BlinkinLEDTestCommand(BlinkinLEDSubsystem led, int time) {
     ledSystem = led;
     delay = time;
   }
 
   @Override
   public void initialize() {
-    currentPattern = LEDConstants.LEDPatterns.BLACK;
+    currentPattern = BlinkinLEDConstants.Patterns.BLACK;
     ticker = 0;
   }
 
@@ -39,11 +39,11 @@ public void execute() {
 
   @Override
   public boolean isFinished() {
-    return currentPattern <= LEDConstants.LEDPatterns.HOT_PINK;
+    return currentPattern <= BlinkinLEDConstants.Patterns.HOT_PINK;
   }
 
   @Override
   public void end(boolean interrupted) {
-    currentPattern = LEDConstants.LEDPatterns.BLACK;
+    currentPattern = BlinkinLEDConstants.Patterns.BLACK;
   }
 }