Converts ColorConstant values to an enum

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,
-    };
-  }
 }

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);
       }

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()));
   }
 

src/main/java/frc/robot/commands/FlameCycle.java

@@ -7,33 +7,37 @@
 
 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 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 final int redDiff = RED.getRed() - YELLOW.getRed();
+  private final int greenDiff = RED.getGreen() - YELLOW.getGreen();
+  private final int blueDiff = RED.getBlue() - YELLOW.getBlue();
 
   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();
   }
 
@@ -43,15 +47,15 @@ public void execute() {
     double multiplier = Math.sin(step++ * Math.toRadians(6)) * 0.5 + .5;
     Color8Bit color0 =
         new Color8Bit(
-            (int) (-(redDiff * multiplier) + ColorConstants.RED.red),
-            (int) (-(greenDiff * multiplier) + ColorConstants.RED.green),
-            (int) (-(blueDiff * multiplier) + ColorConstants.RED.blue));
+            (int) (-(redDiff * multiplier) + RED.getRed()),
+            (int) (-(greenDiff * multiplier) + RED.getGreen()),
+            (int) (-(blueDiff * 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) (redDiff * multiplier + YELLOW.getRed()),
+            (int) (greenDiff * multiplier + YELLOW.getGreen()),
+            (int) (blueDiff * multiplier + YELLOW.getBlue()));
+    for (int i = 0; i < ledCount; i++) {
       Color8Bit color = ((i / 3) % 2) == 0 ? color0 : color1;
       led.setColor(color, i);
     }

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");
   }

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);

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;
+  }
+}