Skip to content

Added Aligning LEDs #201

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 6 commits into
base: main
Choose a base branch
from
Open

Added Aligning LEDs #201

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
2eeacaa
Added Aligning LEDs
EliUva Oct 29, 2025
6d62c53
Corrected Spelling
S0L0GUY Oct 29, 2025
1d26acc
Updated Indentation
S0L0GUY Oct 29, 2025
d3e9952
Update src/main/java/frc/robot/RobotContainer.java
S0L0GUY Oct 29, 2025
74321bd
Fix spelling of ALIGNING_ANIMATION in LED commands
S0L0GUY Oct 29, 2025
63c4435
made aligning LEDs, and Hopefully None LEDs
BrodyKarr Oct 30, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 4 additions & 1 deletion src/main/java/frc/robot/Constants.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,8 @@

public final class Constants {
public static class constControllers {
public static final double OPERATOR_RUMBLE = 0.3;
public static final double OPERATOR_RUMBLE = 1;
public static final double DRIVER_RUMBLE = .3;
public static final double DRIVER_LEFT_STICK_DEADBAND = 0.05;
public static final boolean SILENCE_JOYSTICK_WARNINGS = true;
}
Expand Down Expand Up @@ -857,8 +858,10 @@ public static class constLED {
LED_CONFIG.brightnessScalar = 1;
}
// LED strip😎
public static final int[] NONE_COLOR = { 0, 0, 255 };
public static final RainbowAnimation NONE_ANIMATION = new RainbowAnimation(MAX_VOLTAGE, MAX_VOLTAGE, 0);
public static final StrobeAnimation READY_TO_SHOOT_ANIMATION = new StrobeAnimation(0, 255, 0, 0, .5, 192);
public static final StrobeAnimation ALIGNING_ANIMATION = new StrobeAnimation(255, 0, 0, 0, 0.5, 192);
public static final int[] PREP_CLIMB = { 0, 0, 0 };
public static final int[] CLIMB = { 0, 0, 0 };
public static final int[] PREP_CORAL_ZERO = { 0, 0, 0 };
Expand Down
29 changes: 27 additions & 2 deletions src/main/java/frc/robot/RobotContainer.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,8 @@ public class RobotContainer {
private final Trigger isReadyToScoreReefFeedback = new Trigger(() -> (subDrivetrain.atLastDesiredFieldPosition()
&& subMotion.atLastDesiredMechPosition()));
private final Trigger isReadyToScoreNetFeedback = new Trigger(() -> (subDrivetrain.atLastDesiredFieldPosition()));
private final Trigger isAttemptingAlignFeedback = new Trigger(
() -> (subMotion.atLastDesiredMechPosition() && !subDrivetrain.atLastDesiredFieldPosition()));
private final Trigger hasCoralTrigger = new Trigger(() -> subRotors.hasCoral() && !subRotors.hasAlgae());
private final Trigger hasAlgaeTrigger = new Trigger(() -> !subRotors.hasCoral() && subRotors.hasAlgae());
private final Trigger hasBothTrigger = new Trigger(() -> subRotors.hasCoral() && subRotors.hasAlgae());
Expand All @@ -89,6 +91,10 @@ public class RobotContainer {
private final Trigger isInClimbState = new Trigger(
() -> subStateMachine.getRobotState() == RobotState.CLIMBING
|| subStateMachine.getRobotState() == RobotState.PREP_CLIMB);
private final Trigger isInReefAutoDriveLeft = new Trigger(
() -> subDriverStateMachine.getDriverState() == DriverStateMachine.DriverState.REEF_AUTO_DRIVING_LEFT);
private final Trigger isInReefAutoDriveRight = new Trigger(
() -> subDriverStateMachine.getDriverState() == DriverStateMachine.DriverState.REEF_AUTO_DRIVING_RIGHT);

Command TRY_NONE = Commands.deferredProxy(
() -> subStateMachine.tryState(RobotState.NONE));
Expand Down Expand Up @@ -443,6 +449,7 @@ public Command getAutonomousCommand() {
return autoChooser.getSelected();

}

private void configOperatorBindings() {
// Add operator bindings here if needed
conOperator.btn_LeftTrigger
Expand Down Expand Up @@ -548,14 +555,32 @@ public void configFeedback() {
.onTrue(Commands.runOnce(() -> subLED.setLED(constLED.READY_TO_SHOOT_ANIMATION, 0)))
.whileTrue(
Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble, constControllers.OPERATOR_RUMBLE)))
.whileTrue(
Commands.runOnce(() -> conDriver.setRumble(RumbleType.kBothRumble, constControllers.DRIVER_RUMBLE)))
.onFalse(Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble, 0)))
.onFalse(Commands.runOnce(() -> subLED.clearAnimation()));
.onFalse(Commands.runOnce(() -> subLED.setLED(constLED.NONE_COLOR)));
isReadyToScoreNetFeedback
.onTrue(Commands.runOnce(() -> subLED.setLED(constLED.READY_TO_SHOOT_ANIMATION, 0)))
.whileTrue(
Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble, constControllers.OPERATOR_RUMBLE)))
.onFalse(Commands.runOnce(() -> conOperator.setRumble(RumbleType.kBothRumble, 0)))
.onFalse(Commands.runOnce(() -> subLED.clearAnimation()));
.onFalse(Commands.runOnce(() -> subLED.setLED(constLED.NONE_COLOR)));
isAttemptingAlignFeedback
.whileTrue(Commands.runOnce(() -> subLED.setLED(constLED.ALIGNING_ANIMATION, 0)))
.onFalse(Commands.runOnce(() -> subLED.setLED(constLED.NONE_COLOR)));

// isInCSAutoDriveState
// .onTrue(Commands.runOnce(() -> subLED.setLED(constLED.ALIGNING_ANIMATION)))
// .onFalse(Commands.runOnce(() -> subLED.clearAnimation()));
// isInProcessorAutoDriveState
// .onTrue(Commands.runOnce(() -> subLED.setLED(constLED.ALIGNING_ANIMATION)))
// .onFalse(Commands.runOnce(() -> subLED.clearAnimation()));
// isInReefAutoDriveLeft
// .onTrue(Commands.runOnce(() -> subLED.setLED(constLED.ALIGNING_ANIMATION)))
// .onFalse(Commands.runOnce(() -> subLED.clearAnimation()));
// isInReefAutoDriveRight
// .onTrue(Commands.runOnce(() -> subLED.setLED(constLED.ALIGNING_ANIMATION)))
// .onFalse(Commands.runOnce(() -> subLED.clearAnimation()));
}

public boolean allZeroed() {
Expand Down