Feat/leds

robot.py

@@ -79,6 +79,8 @@ def teleopInit(self) -> None:
         # this line or comment it out.
         if self.autonomousCommand:
             commands2.CommandScheduler.getInstance().cancel(self.autonomousCommand)
+
+
 
     def teleopPeriodic(self) -> None:
         """This function is called periodically during operator control"""

sensors/constants.py

@@ -0,0 +1,11 @@
+
+
+#leds
+leds_id = 30 #placeholder
+led_length = 60 #placeholder
+
+rainbow_saturation = 255 #placeholder
+rainbow_value = 255 #placeholder
+scroll_speed = 0 #placeholder, in percent of whole LED strip per second
+
+blink_time = 2 #placeholder, in seconds

sensors/leds.py

@@ -0,0 +1,111 @@
+from wpilib import AddressableLED, LEDPattern, Color
+import ntcore
+import constants
+from wpilib import DriverStation
+from commands2 import Subsystem
+
+class LEDs(Subsystem):
+
+    def __init__(self):
+
+        self.led = AddressableLED(constants.leds_id)
+        self.led.setLength(constants.led_length)
+        self.led_buffer = [self.led.LEDData() for i in range(constants.led_length)]
+
+        self.pattern = LEDPattern.solid(Color.kBlack)
+
+    def enable_leds(self):
+        """
+        enables the LEDs
+        """
+        self.led.start()
+
+    def disable_leds(self):
+        """
+        disables the LEDs
+        """
+        self.led.stop()
+
+    def update_leds(self):
+        """
+        updates LED pattern
+        """
+        self.pattern.applyTo(self.led_buffer)
+        self.led.setData(self.led_buffer)
+
+    def set_brightness(self, brightness):
+        """
+        sets LED brightness
+        """
+        self.pattern.atBrightness(brightness)
+        self.update_leds()
+
+    def set_solid(self, r: int, g: int, b: int):
+        """
+        sets LEDs as a solid color
+        """
+        self.pattern = LEDPattern.solid(Color(r/255, g/255, b/255))
+        self.update_leds()
+
+    def set_rainbow(self):
+        """
+        sets LEDs to a rainbow pattern
+        """
+        self.pattern = LEDPattern.rainbow(constants.rainbow_saturation, constants.rainbow_value)
+        self.update_leds()
+
+    def set_gradient(self, r1: int, g1: int, b1: int, r2: int, g2: int, b2: int):
+        """
+        sets LEDs to a (continuous) gradient pattern
+        """
+        self.pattern = LEDPattern.gradient(LEDPattern.GradientType.kContinuous, Color(r1/255, g1/255, b1/255), Color(r2/255, g2/255, b2/255))
+        self.update_leds()
+
+    def set_progress_mask(self, current_value, max_value, r: int, g: int, b: int):
+        """
+        sets progress bar of any color of choice pattern for LEDs 
+        """
+        self.pattern = LEDPattern.progressMaskLayer(current_value / max_value).solid(Color(r/255, g/255, b/255))
+        self.update_leds()
+
+    def reverse_pattern(self):
+        """
+        reverses direction of given pattern
+        """
+        self.pattern.reversed()
+        self.update_leds()
+
+    def set_scroll(self, r1: int, g1: int, b1: int, r2: int, g2: int, b2: int):
+        """
+        sets a scrolling pattern for the whole LED strips
+        """
+        self.set_gradient(r1, g1, b1, r2, g2, b2)
+        self.pattern.scrollAtRelativeSpeed(constants.scroll_speed)
+        self.update_leds()
+
+    def set_blink(self, r1: int, g1: int, b1: int, r2: int, g2: int, b2: int):
+        """
+        set blink pattern for the LEDs
+        """
+        self.set_gradient(r1, g1, b1, r2, g2, b2)
+        self.pattern.blink(constants.blink_time)
+        self.update_leds()
+
+    def set_alternate(self, r1: int, g1: int, b1: int, r2: int, g2: int, b2: int):
+        """
+        LED strip alternates between two colors
+        """
+        self.alternate = []
+        for i in range(constants.led_length):
+            if i % 2 == 0:
+                self.alternate.append(
+                    (i / constants.led_length, Color(r1 / 255, g1 / 255, b1 / 255))
+                )
+            elif i % 2 == 1:
+                self.alternate.append(
+                    (i / constants.led_length, Color(r2 / 255, g2 / 255, b2 / 255))
+                )
+        self.pattern = LEDPattern.steps(self.alternate)
+        self.update_leds()
+
+

subsystems/7407-DriveCode-Rebuilt.code-workspace

@@ -0,0 +1,7 @@
+{
+    "folders": [
+        {
+            "path": ".."
+        }
+    ]
+}