Converts ColorConstant values to an enum (#85)

This change converts the values in `ColorConstants` to an enum which allows for better logging of color commands. It also limits the color commands to the actual subsystem LED subsegment length rather than assuming the subsystem owns the full count.
NRG948 · Feb 8, 2025 · 2e0c39f · 2e0c39f
1 parent 4fefd6c
commit 2e0c39f
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Showing 10 changed files with 234 additions and 71 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -10,7 +10,6 @@
 import edu.wpi.first.math.Pair;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.util.Color8Bit;
 import frc.robot.commands.AlignToReef.ReefBranch;
 import java.util.HashMap;
 import java.util.Map;
@@ -113,21 +112,4 @@ public static class VisionConstants {
     /** The rotational tolerance value for aligning to the reef. */
     public static final double REEF_ALIGNMENT_TOLERANCE_R = 1.0; // in deg
   }
-
-  public static class ColorConstants {
-    public static final Color8Bit BLACK = new Color8Bit(0, 0, 0);
-    public static final Color8Bit WHITE = new Color8Bit(200, 200, 200);
-    public static final Color8Bit RED = new Color8Bit(255, 0, 0);
-    public static final Color8Bit ORANGE = new Color8Bit(255, 119, 0);
-    public static final Color8Bit YELLOW = new Color8Bit(255, 165, 0);
-    public static final Color8Bit GREEN = new Color8Bit(0, 204, 0);
-    public static final Color8Bit BLUE = new Color8Bit(0, 0, 204);
-    public static final Color8Bit PURPLE = new Color8Bit(238, 80, 255);
-    public static final Color8Bit PINK = new Color8Bit(255, 5, 100);
-    public static final Color8Bit LIGHTBLUE = new Color8Bit(56, 197, 252);
-
-    public static final Color8Bit COLORS[] = {
-      BLACK, WHITE, RED, ORANGE, YELLOW, GREEN, BLUE, LIGHTBLUE, PURPLE, PINK,
-    };
-  }
 }
diff --git a/src/main/java/frc/robot/commands/BlinkColor.java b/src/main/java/frc/robot/commands/BlinkColor.java
@@ -7,28 +7,31 @@
 
 package frc.robot.commands;
 
+import static frc.robot.parameters.Colors.BLACK;
+
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.util.Color8Bit;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.Constants;
+import frc.robot.parameters.Colors;
 import frc.robot.subsystems.LEDSubsystem;
 
-/** A command to blink the status LEDs green. */
-public class BlinkColor extends Command {
+/** A command to blink the status LEDs a specified color. */
+public final class BlinkColor extends Command {
   private static final double BLINK_TIME = 0.2;
 
   private final LEDSubsystem led;
-  private final Color8Bit color;
+  private final Colors color;
   private final double duration;
   private final Timer timer = new Timer();
   private boolean isOn;
 
   /** Creates a new BlinkColor. */
-  public BlinkColor(LEDSubsystem led, Color8Bit color, double duration) {
-    // Use addRequirements() here to declare subsystem dependencies.
+  public BlinkColor(LEDSubsystem led, Colors color, double duration) {
+    setName(String.format("BlinkColor(%s)", color.name()));
+
     this.led = led;
     this.color = color;
     this.duration = duration;
+
     addRequirements(led);
   }
 
@@ -47,7 +50,7 @@ public void execute() {
 
     if (timer.advanceIfElapsed(BLINK_TIME)) {
       if (isOn) {
-        led.fillAndCommitColor(Constants.ColorConstants.BLACK);
+        led.fillAndCommitColor(BLACK);
       } else {
         led.fillAndCommitColor(color);
       }

diff --git a/src/main/java/frc/robot/commands/DriveCommands.java b/src/main/java/frc/robot/commands/DriveCommands.java
@@ -7,6 +7,8 @@
 
 package frc.robot.commands;
 
+import static frc.robot.parameters.Colors.WHITE;
+
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.path.PathConstraints;
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
@@ -20,7 +22,6 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import frc.robot.Constants;
-import frc.robot.Constants.ColorConstants;
 import frc.robot.commands.AlignToReef.ReefBranch;
 import frc.robot.parameters.SwerveDriveParameters;
 import frc.robot.subsystems.Subsystems;
@@ -49,7 +50,7 @@ public static Command resetOrientation(Subsystems subsystems) {
   public static Command alignToBranch(Subsystems subsystems, ReefBranch branch) {
     return Commands.sequence(
             new AlignToReef(subsystems, branch),
-            new BlinkColor(subsystems.statusLEDs, ColorConstants.WHITE, 1).repeatedly())
+            new BlinkColor(subsystems.statusLEDs, WHITE, 1).repeatedly())
         .withName(String.format("AlignToReef(%s)", branch.name()));
   }
 

diff --git a/src/main/java/frc/robot/commands/FlameCycle.java b/src/main/java/frc/robot/commands/FlameCycle.java
@@ -7,51 +7,56 @@
 
 package frc.robot.commands;
 
+import static frc.robot.parameters.Colors.BLACK;
+import static frc.robot.parameters.Colors.RED;
+import static frc.robot.parameters.Colors.YELLOW;
+
 import edu.wpi.first.wpilibj.util.Color8Bit;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.Constants.ColorConstants;
-import frc.robot.Constants.RobotConstants;
 import frc.robot.subsystems.StatusLED;
 
 /** A command to display an animated flame pattern on the status LEDs. */
-public class FlameCycle extends Command {
+public final class FlameCycle extends Command {
+  private static final int RED_DIFF = RED.getRed() - YELLOW.getRed();
+  private static final int GREEN_DIFF = RED.getGreen() - YELLOW.getGreen();
+  private static final int BLUE_DIFF = RED.getBlue() - YELLOW.getBlue();
+
   private final StatusLED led;
-  private final int redDiff = ColorConstants.RED.red - ColorConstants.YELLOW.red;
-  private final int greenDiff = ColorConstants.RED.green - ColorConstants.YELLOW.green;
-  private final int blueDiff = ColorConstants.RED.blue - ColorConstants.YELLOW.blue;
+  private final int ledCount;
 
   private int step;
 
   /** Creates a new FlameCycle. */
   public FlameCycle(StatusLED led) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.led = led;
+    this.ledCount = led.getLEDCount();
     addRequirements(led);
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
     step = 0;
-    led.fillColor(ColorConstants.BLACK);
+    led.fillColor(BLACK);
     led.commitColor();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double multiplier = Math.sin(step++ * Math.toRadians(6)) * 0.5 + .5;
+    double multiplier = Math.sin(step++ * Math.toRadians(6)) * 0.5 + 0.5;
     Color8Bit color0 =
         new Color8Bit(
-            (int) (-(redDiff * multiplier) + ColorConstants.RED.red),
-            (int) (-(greenDiff * multiplier) + ColorConstants.RED.green),
-            (int) (-(blueDiff * multiplier) + ColorConstants.RED.blue));
+            (int) (-(RED_DIFF * multiplier) + RED.getRed()),
+            (int) (-(GREEN_DIFF * multiplier) + RED.getGreen()),
+            (int) (-(BLUE_DIFF * multiplier) + RED.getBlue()));
     Color8Bit color1 =
         new Color8Bit(
-            (int) (redDiff * multiplier + ColorConstants.YELLOW.red),
-            (int) (greenDiff * multiplier + ColorConstants.YELLOW.green),
-            (int) (blueDiff * multiplier + ColorConstants.YELLOW.blue));
-    for (int i = 0; i < RobotConstants.LED_COUNT; i++) {
+            (int) (RED_DIFF * multiplier + YELLOW.getRed()),
+            (int) (GREEN_DIFF * multiplier + YELLOW.getGreen()),
+            (int) (BLUE_DIFF * multiplier + YELLOW.getBlue()));
+    for (int i = 0; i < ledCount; i++) {
       Color8Bit color = ((i / 3) % 2) == 0 ? color0 : color1;
       led.setColor(color, i);
     }

diff --git a/src/main/java/frc/robot/commands/LEDCommands.java b/src/main/java/frc/robot/commands/LEDCommands.java
@@ -7,10 +7,11 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj.util.Color8Bit;
+import static frc.robot.parameters.Colors.GREEN;
+
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import frc.robot.Constants.ColorConstants;
+import frc.robot.parameters.Colors;
 import frc.robot.subsystems.StatusLED;
 import frc.robot.subsystems.Subsystems;
 
@@ -25,9 +26,9 @@ public final class LEDCommands {
    * @param color The color to set.
    * @return A command that sets the color of the status LED.
    */
-  public static Command setColor(StatusLED statusLED, Color8Bit color) {
+  public static Command setColor(StatusLED statusLED, Colors color) {
     return Commands.runOnce(() -> statusLED.fillAndCommitColor(color), statusLED)
-        .withName("SetColor");
+        .withName(String.format("SetColor(%s)", color.name()));
   }
 
   /**
@@ -40,8 +41,8 @@ public static Command setColor(StatusLED statusLED, Color8Bit color) {
    */
   public static Command indicateCoralAcquired(Subsystems subsystem) {
     return Commands.sequence(
-            new BlinkColor(subsystem.statusLEDs, ColorConstants.GREEN, BLINK_DURATION),
-            setColor(subsystem.statusLEDs, ColorConstants.GREEN),
+            new BlinkColor(subsystem.statusLEDs, GREEN, BLINK_DURATION),
+            setColor(subsystem.statusLEDs, GREEN),
             Commands.idle(subsystem.statusLEDs).until(() -> !subsystem.coralRoller.hasCoral()))
         .withName("IndicateCoralAcquired");
   }
@@ -56,8 +57,8 @@ public static Command indicateCoralAcquired(Subsystems subsystem) {
    */
   public static Command indicateAlgaeAcquired(Subsystems subsystem) {
     return Commands.sequence(
-            new BlinkColor(subsystem.statusLEDs, ColorConstants.GREEN, BLINK_DURATION),
-            setColor(subsystem.statusLEDs, ColorConstants.GREEN),
+            new BlinkColor(subsystem.statusLEDs, GREEN, BLINK_DURATION),
+            setColor(subsystem.statusLEDs, GREEN),
             Commands.idle(subsystem.statusLEDs).until(() -> !subsystem.algaeGrabber.hasAlgae()))
         .withName("IndicateAlgaeAcquired");
   }

diff --git a/src/main/java/frc/robot/commands/RainbowCycle.java b/src/main/java/frc/robot/commands/RainbowCycle.java
@@ -7,38 +7,40 @@
 
 package frc.robot.commands;
 
+import static frc.robot.parameters.Colors.BLACK;
+
 import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj.util.Color8Bit;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.Constants.ColorConstants;
-import frc.robot.Constants.RobotConstants;
 import frc.robot.subsystems.StatusLED;
 
 /** A command to display an animated rainbow cycle pattern on the status LEDs. */
-public class RainbowCycle extends Command {
+public final class RainbowCycle extends Command {
   private final StatusLED led;
+  private final int ledCount;
   private int step;
 
   /** Creates a new RainbowCycle. */
   public RainbowCycle(StatusLED led) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.led = led;
+    this.ledCount = led.getLEDCount();
     addRequirements(led);
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
     step = 0;
-    led.fillColor(ColorConstants.BLACK);
+    led.fillColor(BLACK);
     led.commitColor();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     int firstPixelHue = step++ * 3;
-    for (int i = 0; i < RobotConstants.LED_COUNT; i++) {
+    for (int i = 0; i < ledCount; i++) {
       Color8Bit color =
           new Color8Bit(Color.fromHSV((firstPixelHue + ((180 * (i + 1)) / 21)) % 180, 255, 255));
       led.setColor(color, i);

diff --git a/src/main/java/frc/robot/parameters/Colors.java b/src/main/java/frc/robot/parameters/Colors.java
@@ -0,0 +1,51 @@
+/*
+ * Copyright (c) 2025 Newport Robotics Group. All Rights Reserved.
+ *
+ * Open Source Software; you can modify and/or share it under the terms of
+ * the license file in the root directory of this project.
+ */
+
+package frc.robot.parameters;
+
+import edu.wpi.first.wpilibj.util.Color8Bit;
+
+/** An enum representing common RGB colors used with the status LEDs. */
+public enum Colors {
+  BLACK(0, 0, 0),
+  WHITE(200, 200, 200),
+  RED(255, 0, 0),
+  ORANGE(255, 119, 0),
+  YELLOW(255, 165, 0),
+  GREEN(0, 204, 0),
+  BLUE(0, 0, 204),
+  PURPLE(238, 80, 255),
+  PINK(255, 5, 100),
+  LIGHT_BLUE(56, 197, 252);
+
+  private final Color8Bit color;
+
+  /** Constructs a variant of this enum. */
+  Colors(int red, int green, int blue) {
+    color = new Color8Bit(red, green, blue);
+  }
+
+  /** Returns the red component of this enum variant. */
+  public int getRed() {
+    return color.red;
+  }
+
+  /** Returns the green component of this enum variant. */
+  public int getGreen() {
+    return color.green;
+  }
+
+  /** Returns the blue component of this enum variant. */
+  public int getBlue() {
+    return color.blue;
+  }
+
+  /** Returns the color of this enum variant. */
+  public Color8Bit getColor() {
+    return color;
+  }
+}