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FarhanJ2FarhanJ2
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Integrate LEDMatrix subsystem and migrate LED usage
Added a new LEDMatrix subsystem for 2D LED array control with animations and commands. Updated RobotContainer and related subsystems to use LEDMatrix instead of the old LED singleton, and moved the LED class to the led package. Deprecated the old LED singleton and replaced all relevant references and commands with LEDMatrix equivalents.
1 parent b19c31f commit 76cd2be

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7 files changed

+830
-28
lines changed

7 files changed

+830
-28
lines changed

‎src/main/java/org/steelhawks/RobotContainer.java‎

Lines changed: 38 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -14,11 +14,11 @@
1414
import org.steelhawks.generated.TunerConstants;
1515
import org.steelhawks.generated.TunerConstantsAlpha;
1616
import org.steelhawks.generated.TunerConstantsHawkRider;
17-
import org.steelhawks.subsystems.LED.LEDColor;
17+
import org.steelhawks.subsystems.led.LED.LEDColor;
1818
import edu.wpi.first.wpilibj2.command.Commands;
1919
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
2020
import org.steelhawks.Constants.*;
21-
import org.steelhawks.subsystems.LED;
21+
import org.steelhawks.subsystems.led.LEDMatrix;
2222
import org.steelhawks.subsystems.algaeclaw.*;
2323
import org.steelhawks.subsystems.align.Align;
2424
import org.steelhawks.subsystems.align.AlignIO;
@@ -40,7 +40,8 @@
4040

4141
public class RobotContainer {
4242

43-
private final LED s_LED = LED.getInstance();
43+
// private final LED s_LED = LED.getInstance();
44+
private final LEDMatrix s_LEDMatrix = new LEDMatrix(32, 8);
4445
public static Swerve s_Swerve = null;
4546
public static Vision s_Vision = null;
4647
public static Elevator s_Elevator = null;
@@ -255,8 +256,29 @@ public RobotContainer() {
255256
configureTriggers();
256257
configureDriver();
257258

258-
s_LED.setDefaultCommand(new LEDDefaultCommand(() -> manualToggled));
259+
// s_LED.setDefaultCommand(new LEDDefaultCommand(() -> manualToggled));
259260
s_AlgaeClaw.setDefaultCommand(new AlgaeClawDefaultCommand());
261+
262+
// s_LEDMatrix.rainbowWaveCommand(3).schedule();
263+
s_LEDMatrix.fireCommand(50, 120).schedule();
264+
// s_LEDMatrix.bouncingBallCommand(LEDMatrix.Color.GREEN, 3).schedule();
265+
// s_LEDMatrix.scrollingTextCommand("STEEL HAWKS", LEDMatrix.Color.RED, 2).schedule();
266+
// s_LEDMatrix.plasmaCommand(3).schedule();
267+
268+
// line left to right test
269+
// for (int x = 0; x < 16; x++) {
270+
// s_LEDMatrix.setPixel(x, 0, LEDMatrix.Color.RED);
271+
// }
272+
// s_LEDMatrix.show();
273+
//
274+
// for (int y = 0; y < 16; y++) {
275+
// s_LEDMatrix.setPixel(0, y, LEDMatrix.Color.GREEN);
276+
// }
277+
// s_LEDMatrix.show();
278+
279+
// small square test
280+
// s_LEDMatrix.fillRect(6, 6, 4, 4, LEDMatrix.Color.RED);
281+
// s_LEDMatrix.show();
260282
}
261283

262284
private void setManualToggled(boolean value) {
@@ -284,20 +306,20 @@ private void checkIfDevicesConnected() {
284306
private void configureTriggers() {
285307
s_Elevator.atLimit()
286308
.onTrue(
287-
s_LED.flashCommand(LEDColor.PURPLE, 0.1, 1).ignoringDisable(false));
309+
s_LEDMatrix.flashCommand(LEDColor.PURPLE, 0.1, 1).ignoringDisable(false));
288310

289311
new Trigger(() -> s_Claw.hasCoral())
290312
.onTrue(
291313
Commands.parallel(
292-
s_LED.flashCommand(LEDColor.GREEN, 0.1, 0.5),
314+
s_LEDMatrix.flashCommand(LEDColor.GREEN, 0.1, 0.5),
293315
new VibrateController(1.0, 1.0, driver))
294316
.ignoringDisable(false));
295317

296318
if (s_AlgaeClaw != null) {
297319
new Trigger(() -> s_AlgaeClaw.hasAlgae())
298320
.onTrue(
299321
Commands.parallel(
300-
s_LED.flashCommand(LEDColor.GREEN, 0.1, 1.0),
322+
s_LEDMatrix.flashCommand(LEDColor.GREEN, 0.1, 1.0),
301323
new VibrateController(1.0, 1.0, driver))
302324
.ignoringDisable(false));
303325
}
@@ -319,7 +341,7 @@ private void configureDriver() {
319341
if (!s_Elevator.isLocked()) {
320342
Commands.parallel(
321343
new VibrateController(1.0, 1.0, driver),
322-
s_LED.flashCommand(LEDColor.RED, 0.1, 1.0)).schedule();
344+
s_LEDMatrix.flashCommand(LEDColor.RED, 0.1, 1.0)).schedule();
323345
return;
324346
}
325347

@@ -382,8 +404,8 @@ private void configureDriver() {
382404
.alongWith(
383405
new VibrateController(driver),
384406
Commands.either(
385-
s_LED.flashCommand(LEDColor.GREEN, 0.2, 2),
386-
s_LED.flashCommand(LEDColor.RED, 0.2, 2),
407+
s_LEDMatrix.flashCommand(LEDColor.GREEN, 0.2, 2),
408+
s_LEDMatrix.flashCommand(LEDColor.RED, 0.2, 2),
387409
() -> s_Swerve.isSlowMode()).withInterruptBehavior(InterruptionBehavior.kCancelSelf)));
388410

389411
driver.rightStick()
@@ -418,12 +440,12 @@ private void configureDriver() {
418440
driver.leftTrigger()
419441
.whileTrue(
420442
s_Claw.shootCoral()
421-
.alongWith(LED.getInstance().flashCommand(LEDColor.WHITE, 0.2, 2.0).repeatedly()));
443+
.alongWith(s_LEDMatrix.flashCommand(LEDColor.WHITE, 0.2, 2.0).repeatedly()));
422444

423445
driver.povLeft()
424446
.whileTrue(
425447
s_Claw.reverseCoral()
426-
.alongWith(LED.getInstance().flashCommand(LEDColor.PINK, 0.2, 2.0).repeatedly()));
448+
.alongWith(s_LEDMatrix.flashCommand(LEDColor.PINK, 0.2, 2.0).repeatedly()));
427449

428450
driver.povDown()
429451
.whileTrue(
@@ -482,7 +504,7 @@ private void configureDriver() {
482504
ReefState.removeScoredCoral(lastPosition);
483505
Commands.parallel(
484506
new VibrateController(1.0, 0.25, driver),
485-
s_LED.flashCommand(LEDColor.GREEN, 0.2, 2.0)).schedule();
507+
s_LEDMatrix.flashCommand(LEDColor.GREEN, 0.2, 2.0)).schedule();
486508
}
487509
}))
488510
.onFalse(
@@ -491,9 +513,9 @@ private void configureDriver() {
491513
Toggles.autoMark.set(!Toggles.autoMark.get());
492514
autoMarkingDisabled.set(!Toggles.autoMark.get());
493515
if (Toggles.autoMark.get()) {
494-
s_LED.flashCommand(LEDColor.GREEN, 0.2, 2.0).schedule();
516+
s_LEDMatrix.flashCommand(LEDColor.GREEN, 0.2, 2.0).schedule();
495517
} else {
496-
s_LED.flashCommand(LEDColor.RED, 0.2, 2.0).schedule();
518+
s_LEDMatrix.flashCommand(LEDColor.RED, 0.2, 2.0).schedule();
497519
}
498520
}
499521
toggleTriggered = false;
@@ -510,7 +532,7 @@ private void configureDriver() {
510532
.getDistance(s_Swerve.getPose().getTranslation()) <= 1.5
511533
) {
512534
ReefState.scoreCoral(ReefUtil.getClosestCoralBranch(), s_Elevator.getState());
513-
s_LED.flashCommand(LEDColor.BLUE, 0.2, 2.0).schedule();
535+
s_LEDMatrix.flashCommand(LEDColor.BLUE, 0.2, 2.0).schedule();
514536
}
515537
}));
516538
}

‎src/main/java/org/steelhawks/commands/LEDDefaultCommand.java‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -9,8 +9,8 @@
99
import org.steelhawks.Autos.Misalignment;
1010
import org.steelhawks.Constants.RobotConstants;
1111
import org.steelhawks.Robot.RobotState;
12-
import org.steelhawks.subsystems.LED;
13-
import org.steelhawks.subsystems.LED.LEDColor;
12+
import org.steelhawks.subsystems.led.LED;
13+
import org.steelhawks.subsystems.led.LED.LEDColor;
1414
import org.steelhawks.subsystems.algaeclaw.AlgaeClawConstants;
1515
import org.steelhawks.subsystems.claw.Claw;
1616
import org.steelhawks.subsystems.elevator.Elevator;

‎src/main/java/org/steelhawks/subsystems/algaeclaw/AlgaeClaw.java‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -13,7 +13,7 @@
1313
import org.littletonrobotics.junction.AutoLogOutput;
1414
import org.littletonrobotics.junction.Logger;
1515
import org.steelhawks.*;
16-
import org.steelhawks.subsystems.LED;
16+
import org.steelhawks.subsystems.led.LED;
1717
import org.steelhawks.util.LoggedTunableNumber;
1818
import org.steelhawks.util.LoopTimeUtil;
1919

‎src/main/java/org/steelhawks/subsystems/align/Align.java‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -25,8 +25,8 @@
2525
import org.steelhawks.RobotContainer;
2626
import org.steelhawks.commands.align.FusedSwerveDriveAlignment;
2727
import org.steelhawks.commands.align.SwerveDriveAlignment;
28-
import org.steelhawks.subsystems.LED;
29-
import org.steelhawks.subsystems.LED.LEDColor;
28+
import org.steelhawks.subsystems.led.LED;
29+
import org.steelhawks.subsystems.led.LED.LEDColor;
3030
import org.steelhawks.subsystems.elevator.ElevatorConstants.State;
3131
import org.steelhawks.subsystems.swerve.Swerve;
3232
import org.steelhawks.util.AllianceFlip;

‎src/main/java/org/steelhawks/subsystems/elevator/Elevator.java‎

Lines changed: 1 addition & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -16,9 +16,6 @@
1616
import org.littletonrobotics.junction.Logger;
1717
import org.steelhawks.*;
1818
import org.steelhawks.Constants.RobotType;
19-
import org.steelhawks.subsystems.LED;
20-
import org.steelhawks.subsystems.LED.LEDColor;
21-
import org.steelhawks.util.Conversions;
2219
import org.steelhawks.util.LoggedTunableNumber;
2320

2421
import java.util.function.DoubleSupplier;
@@ -283,7 +280,7 @@ private void setBrakeMode(boolean enabled) {
283280
public Command setDesiredState(ElevatorConstants.State state) {
284281
return Commands.runOnce(
285282
() -> {
286-
LED.getInstance().flashCommand(LEDColor.WHITE, 0.1, 1.0).schedule();
283+
// LED.getInstance().flashCommand(LEDColor.WHITE, 0.1, 1.0).schedule();
287284
inputs.goal = MathUtil.clamp(state.getAngle().getRotations(), 0, ElevatorConstants.MAX_ROTATIONS);
288285
goal = new TrapezoidProfile.State(inputs.goal, 0.0);
289286
desiredGoal = state;

src/main/java/org/steelhawks/subsystems/LED.java renamed to src/main/java/org/steelhawks/subsystems/led/LED.java

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
package org.steelhawks.subsystems;
1+
package org.steelhawks.subsystems.led;
22

33
import static edu.wpi.first.units.Units.*;
44

@@ -121,10 +121,10 @@ public enum BounceWaveDirection {
121121
BACKWARD
122122
}
123123

124-
private static final LED INSTANCE = new LED();
124+
private static final LED INSTANCE = null;
125125

126126
public static LED getInstance() {
127-
return INSTANCE;
127+
return null;
128128
}
129129

130130
private LED() {

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