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(DO NOT MERGE) Code Review: Bling Strobe + Battery #61

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(DO NOT MERGE) Code Review: Bling Strobe + Battery #61

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60 changes: 57 additions & 3 deletions src/main/java/frc/robot/commands/SetBlingCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,8 @@

package frc.robot.commands;

import edu.wpi.first.wpilibj.PowerDistribution;
import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import frc.robot.subsystems.BlingSubsystem;
import com.ctre.phoenix.led.FireAnimation;
Expand Down Expand Up @@ -69,6 +71,21 @@ public void initialize() {
case 9:
setRgbFade();
break;
case 10: //TODO: for testing purposes, may add to robot
bling.setOrange(); //Special set (only a certain amount of LEDs light up)
break; //remove break?
case 11:
setBlueStrobe();
break;
case 12:
setYellowStrobe();
break;
case 13:
setRedStrobe();
break;
case 14:
setPurpleStrobe();
break;
default:
break;
}
Expand All @@ -89,14 +106,35 @@ public void setRainbow() {

public void setFire()
{
FireAnimation fireAnimation = new FireAnimation(1, 0.000001, 64, 0.8, 0.4);
FireAnimation fireAnimation = new FireAnimation(1, 0.000001, 64, 3, 1);

bling.candle.animate(fireAnimation);
}

public void setStrobe()
public void setPurpleStrobe()
{
StrobeAnimation strobeAnimation = new StrobeAnimation(255, 255, 255, 255, 0.8, 64);
StrobeAnimation strobeAnimation = new StrobeAnimation(138, 43, 226, 127, 0.001, 64); //TODO: test all of the rgbw bling values

bling.candle.animate(strobeAnimation);
}

public void setRedStrobe()
{
StrobeAnimation strobeAnimation = new StrobeAnimation(255, 0, 0, 127, 0.001, 64);

bling.candle.animate(strobeAnimation);
}

public void setBlueStrobe()
{
StrobeAnimation strobeAnimation = new StrobeAnimation(0, 0, 255, 127, 0.001, 64);

bling.candle.animate(strobeAnimation);
}

public void setYellowStrobe()
{
StrobeAnimation strobeAnimation = new StrobeAnimation(255, 255, 0, 127, 0.001, 64);

bling.candle.animate(strobeAnimation);
}
Expand All @@ -108,5 +146,21 @@ public void setRgbFade()
bling.candle.animate(rgbFadeAnimation);
}

PowerDistribution pd = new PowerDistribution(0, ModuleType.kCTRE);

boolean checkBatteryVoltageConstantly = true;

// Get the voltage going into the PDP, in Volts.
// The PDP returns the voltage in increments of 0.05 Volts.
double voltage = PowerDistribution.ModuleType.class.m_pdp.getVoltage();
SmartDashboard.putNumber("Voltage", voltage);

while (checkBatteryVoltageConstantly = true) {
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Don't put a while loop here.
Checking battery and set bling could be in periodic method of some command.

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Suggest to remove the codes related to voltage. This pull request is only for bling.
Create a new branch which is only for battery voltage detection.

if (voltage <= 12.50); { //TODO: Using 12.50 Volts for now, may change later
bling.setOrange(); //Test to see if this replaces a current bling colour or not
checkBatteryVoltageConstantly = false; //TODO: Check if its ok that: putting this basically means it will be low voltage once below or equal to 12.50 V all the way until the robot is turned off (because then the battery would be changed)
}
}

}

5 changes: 5 additions & 0 deletions src/main/java/frc/robot/subsystems/BlingSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,11 @@ public void setYellow()
candle.setLEDs(255, 255, 0);
}

public void setOrange()
{
candle.setLEDs(255, 165, 0, 127, 1, 10); //test to see how many leds this is and if it works cuz the white is 127
}

@Override
public void periodic() {
// This method will be called once per scheduler run
Expand Down