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QOL: Update LED flashing states #38

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Merged
merged 3 commits into from
Mar 15, 2025
Merged

QOL: Update LED flashing states #38

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b07e1f8
Update LED flashing states
0x5b62656e5d Mar 13, 2025
49d15af
Merge branch 'main' into candle
0x5b62656e5d Mar 14, 2025
5e3719a
Merge branch 'main' into candle
0x5b62656e5d Mar 14, 2025
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100 changes: 80 additions & 20 deletions src/main/java/raidzero/robot/subsystems/LEDStrip/ArmStrip.java
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Original file line number Diff line number Diff line change
Expand Up @@ -94,14 +94,14 @@ private void updateStates() {
* The E-stopped loop of the CANdle LED strip
*/
private void loopEstopped() {
if (animationApplied || animation2Applied || animation3Applied) {
if (animation2Applied || animation3Applied) {
resetAnimation();
}

if (!animationApplied) {
candle.clearAnimation(0);
candle.clearAnimation(1);
candle.animate(new StrobeAnimation(25, 0, 0, 0, 0.001, -1));
candle.animate(new StrobeAnimation(255, 0, 0, 0, 0.001, -1));
animationApplied = true;
animation2Applied = false;
animation3Applied = false;
Expand All @@ -112,11 +112,24 @@ private void loopEstopped() {
* The disabled loop of the CANdle LED strip
*/
private void loopDisabled() {
if (ClimbJoint.system().isDeployed().getAsBoolean()) {
if (DriverStation.isAutonomous() && DriverStation.getMatchTime() > 0.0) {
if (animation2Applied || animation3Applied) {
resetAnimation();
}

if (!animationApplied) {
candle.clearAnimation(0);
candle.clearAnimation(1);
candle.animate(new StrobeAnimation(255, 0, 0, 0, 0.001, -1));
animationApplied = true;
animation2Applied = false;
animation3Applied = false;
}
} else if (ClimbJoint.system().isDeployed().getAsBoolean()) {
if (!animation3Applied) {
candle.clearAnimation(0);
candle.clearAnimation(1);
candle.animate(new RainbowAnimation(255, 0.75, -1));
candle.animate(new RainbowAnimation(255, 1.0, -1));
animationApplied = false;
animation2Applied = false;
animation3Applied = true;
Expand All @@ -141,11 +154,15 @@ private void loopDisabled() {

if (strobeTimer.hasElapsed(strobeInterval)) {
if (strobeAlternate) {
candle.setLEDs(255, 0, 0, 0, 0, 4);
candle.setLEDs(0, 0, 0, 0, 4, 4);
candle.setLEDs(255, 0, 0, 0, 8, 25);
candle.setLEDs(0, 0, 0, 0, 33, 25);
candle.setLEDs(0, 0, 0, 0, 33, 27);
} else {
candle.setLEDs(0, 0, 0, 0, 0, 4);
candle.setLEDs(255, 0, 0, 0, 4, 4);
candle.setLEDs(0, 0, 0, 0, 8, 25);
candle.setLEDs(255, 0, 0, 0, 33, 25);
candle.setLEDs(255, 0, 0, 0, 33, 27);
}

strobeAlternate = !strobeAlternate;
Expand All @@ -170,13 +187,21 @@ private void loopDisabled() {
* The autonomous loop of the CANdle LED strip
*/
private void loopAutonomous() {
if (animationApplied || animation2Applied || animation3Applied) {
resetAnimation();
}

if (strobeTimer.hasElapsed(strobeInterval)) {
if (strobeAlternate) {
candle.setLEDs(255, 165, 0, 0, 0, 25);
candle.setLEDs(0, 255, 0, 0, 33, 25);
candle.setLEDs(255, 165, 0, 0, 0, 4);
candle.setLEDs(0, 255, 0, 0, 4, 4);
candle.setLEDs(255, 165, 0, 0, 8, 25);
candle.setLEDs(0, 255, 0, 0, 33, 27);
} else {
candle.setLEDs(0, 255, 0, 0, 0, 25);
candle.setLEDs(255, 165, 0, 0, 33, 25);
candle.setLEDs(0, 255, 0, 0, 0, 4);
candle.setLEDs(255, 165, 0, 0, 4, 4);
candle.setLEDs(0, 255, 0, 0, 8, 25);
candle.setLEDs(255, 165, 0, 0, 33, 27);
}

strobeAlternate = !strobeAlternate;
Expand All @@ -195,7 +220,7 @@ private void loopTeleop() {
candle.clearAnimation(0);
candle.clearAnimation(1);
candle.animate(new ColorFlowAnimation(250, 160, 10, 0, 0.75, 25, Direction.Backward, 8), 0);
candle.animate(new ColorFlowAnimation(250, 160, 10, 0, 0.75, 25, Direction.Forward, 33), 1);
candle.animate(new ColorFlowAnimation(250, 160, 10, 0, 0.75, 27, Direction.Forward, 33), 1);
animationApplied = false;
animation2Applied = true;
animation3Applied = false;
Expand All @@ -205,7 +230,7 @@ private void loopTeleop() {
candle.clearAnimation(0);
candle.clearAnimation(1);
candle.animate(new ColorFlowAnimation(250, 160, 10, 0, 0.75, 25, Direction.Forward, 8), 0);
candle.animate(new ColorFlowAnimation(250, 160, 10, 0, 0.75, 25, Direction.Backward, 33), 1);
candle.animate(new ColorFlowAnimation(250, 160, 10, 0, 0.75, 27, Direction.Backward, 33), 1);
animationApplied = false;
animation2Applied = true;
animation3Applied = false;
Expand All @@ -217,11 +242,15 @@ private void loopTeleop() {

if (strobeTimer.hasElapsed(strobeInterval)) {
if (strobeAlternate) {
candle.setLEDs(0, 255, 0, 0, 0, 4);
candle.setLEDs(255, 0, 0, 0, 4, 4);
candle.setLEDs(0, 255, 0, 0, 8, 25);
candle.setLEDs(255, 0, 0, 0, 33, 25);
candle.setLEDs(255, 0, 0, 0, 33, 27);
} else {
candle.setLEDs(255, 0, 0, 0, 0, 4);
candle.setLEDs(0, 255, 0, 0, 4, 4);
candle.setLEDs(255, 0, 0, 0, 8, 25);
candle.setLEDs(0, 255, 0, 0, 33, 25);
candle.setLEDs(0, 255, 0, 0, 33, 27);
}

strobeAlternate = !strobeAlternate;
Expand All @@ -234,11 +263,15 @@ private void loopTeleop() {

if (strobeTimer.hasElapsed(strobeInterval)) {
if (strobeAlternate) {
candle.setLEDs(255, 10, 250, 0, 0, 4);
candle.setLEDs(255, 0, 0, 0, 4, 4);
candle.setLEDs(255, 10, 250, 0, 8, 25);
candle.setLEDs(255, 0, 0, 0, 33, 25);
candle.setLEDs(255, 0, 0, 0, 33, 27);
} else {
candle.setLEDs(255, 0, 0, 0, 0, 4);
candle.setLEDs(255, 10, 250, 0, 4, 4);
candle.setLEDs(255, 0, 0, 0, 8, 25);
candle.setLEDs(255, 10, 250, 0, 33, 25);
candle.setLEDs(255, 10, 250, 0, 33, 27);
}

strobeAlternate = !strobeAlternate;
Expand All @@ -251,11 +284,15 @@ private void loopTeleop() {

if (strobeTimer.hasElapsed(strobeInterval)) {
if (strobeAlternate) {
candle.setLEDs(255, 10, 250, 0, 0, 4);
candle.setLEDs(0, 255, 0, 0, 4, 4);
candle.setLEDs(255, 10, 250, 0, 8, 25);
candle.setLEDs(0, 255, 0, 0, 33, 25);
candle.setLEDs(0, 255, 0, 0, 33, 27);
} else {
candle.setLEDs(0, 255, 0, 0, 0, 4);
candle.setLEDs(255, 10, 250, 0, 4, 4);
candle.setLEDs(0, 255, 0, 0, 8, 25);
candle.setLEDs(255, 10, 250, 0, 33, 25);
candle.setLEDs(255, 10, 250, 0, 33, 27);
}

strobeAlternate = !strobeAlternate;
Expand All @@ -268,11 +305,15 @@ private void loopTeleop() {

if (strobeTimer.hasElapsed(strobeInterval)) {
if (strobeAlternate) {
candle.setLEDs(255, 10, 250, 0, 0, 4);
candle.setLEDs(0, 0, 0, 0, 4, 4);
candle.setLEDs(255, 10, 250, 0, 8, 25);
candle.setLEDs(0, 0, 0, 0, 33, 25);
candle.setLEDs(0, 0, 0, 0, 33, 27);
} else {
candle.setLEDs(0, 0, 0, 0, 0, 4);
candle.setLEDs(255, 10, 250, 0, 4, 4);
candle.setLEDs(0, 0, 0, 0, 8, 25);
candle.setLEDs(255, 10, 250, 0, 33, 25);
candle.setLEDs(255, 10, 250, 0, 33, 27);
}

strobeAlternate = !strobeAlternate;
Expand Down Expand Up @@ -311,6 +352,25 @@ public void matchEndAnimation() {
candle.animate(new RainbowAnimation(255, 0.75, -1));
}

/**
* Sets the LED to red, green, blue in alternating sequence
*/
private void testCandleSequence() {
candle.setLEDs(255, 0, 0, 0, 0, 5);
candle.setLEDs(0, 255, 0, 0, 5, 5);
candle.setLEDs(0, 0, 255, 0, 10, 5);
candle.setLEDs(255, 0, 0, 0, 15, 5);
candle.setLEDs(0, 255, 0, 0, 20, 5);
candle.setLEDs(0, 0, 255, 0, 25, 5);
candle.setLEDs(255, 0, 0, 0, 30, 5);
candle.setLEDs(0, 255, 0, 0, 35, 5);
candle.setLEDs(0, 0, 255, 0, 40, 5);
candle.setLEDs(255, 0, 0, 0, 45, 5);
candle.setLEDs(0, 255, 0, 0, 50, 5);
candle.setLEDs(0, 0, 255, 0, 55, 5);
candle.setLEDs(255, 0, 0, 0, 60, 5);
}

/**
* Gets a {@link CANdleConfiguration} for the CANdle LED strip
*
Expand Down