diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 63ce8c3..63fffc5 100644
--- 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
index 0d13223..b98bc22 100644
--- 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
index b539b39..78b2ce8 100644
--- 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
index ea0a987..0ea4aba 100644
--- a/src/main/java/frc/robot/commands/FlameCycle.java
+++ b/src/main/java/frc/robot/commands/FlameCycle.java
@@ -7,18 +7,21 @@
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;
@@ -26,6 +29,7 @@ public class FlameCycle extends Command {
public FlameCycle(StatusLED led) {
// Use addRequirements() here to declare subsystem dependencies.
this.led = led;
+ this.ledCount = led.getLEDCount();
addRequirements(led);
}
@@ -33,7 +37,7 @@ public FlameCycle(StatusLED led) {
@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);
}
diff --git a/src/main/java/frc/robot/commands/LEDCommands.java b/src/main/java/frc/robot/commands/LEDCommands.java
index 3401ed8..254983b 100644
--- 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
index d252e97..e9b64c2 100644
--- a/src/main/java/frc/robot/commands/RainbowCycle.java
+++ b/src/main/java/frc/robot/commands/RainbowCycle.java
@@ -7,22 +7,24 @@
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);
}
@@ -30,7 +32,7 @@ public RainbowCycle(StatusLED led) {
@Override
public void initialize() {
step = 0;
- led.fillColor(ColorConstants.BLACK);
+ led.fillColor(BLACK);
led.commitColor();
}
@@ -38,7 +40,7 @@ public void initialize() {
@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
new file mode 100644
index 0000000..d9b849d
--- /dev/null
+++ 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;
+ }
+}
diff --git a/src/main/java/frc/robot/subsystems/LEDSubsystem.java b/src/main/java/frc/robot/subsystems/LEDSubsystem.java
index 5e46918..fec12e1 100644
--- a/src/main/java/frc/robot/subsystems/LEDSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/LEDSubsystem.java
@@ -9,34 +9,95 @@
import edu.wpi.first.wpilibj.util.Color8Bit;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.parameters.Colors;
import frc.robot.util.LEDSegment;
public class LEDSubsystem extends SubsystemBase {
/** Creates a new LEDSubsystem. */
protected final LEDSegment leds;
- // TODO: update constructor
+ /**
+ * Creates a new LEDSubsystem.
+ *
+ * @param firstLED The first LED index.
+ * @param ledCount The number of LEDs in the segment.
+ */
public LEDSubsystem(int firstLED, int ledCount) {
leds = new LEDSegment(firstLED, ledCount);
}
+ /**
+ * Gets the number of LEDs in the segment.
+ *
+ * @return The number of LEDs in the segment.
+ */
+ public int getLEDCount() {
+ return leds.getLEDCount();
+ }
+
+ /**
+ * Sets the color of the LED at the specified index.
+ *
+ * @param color The color to set the LED to.
+ * @param index The index of the LED to set.
+ */
+ public void setColor(Colors color, int index) {
+ leds.setColor(color, index);
+ }
+
+ /**
+ * Sets the color of the LED at the specified index.
+ *
+ * @param color The color to set the LED to.
+ * @param index The index of the LED to set.
+ */
public void setColor(Color8Bit color, int index) {
leds.setColor(color, index);
}
+ /**
+ * Fills the segment with the specified color.
+ *
+ * @param color The color to fill the segment with.
+ */
+ public void fillColor(Colors color) {
+ leds.fill(color.getColor());
+ }
+
+ /**
+ * Fills the segment with the specified color.
+ *
+ * @param color The color to fill the segment with.
+ */
+ public void fillColor(Color8Bit color) {
+ leds.fill(color);
+ }
+
+ /**
+ * Fills the segment with the specified color and displays it to the LED segment.
+ *
+ * @param color The color to fill the segment with.
+ */
+ public void fillAndCommitColor(Colors color) {
+ leds.fill(color.getColor());
+ commitColor();
+ }
+
+ /**
+ * Fills the segment with the specified color and displays it to the LED segment.
+ *
+ * @param color The color to fill the segment with.
+ */
public void fillAndCommitColor(Color8Bit color) {
leds.fill(color);
commitColor();
}
+ /** Displays the current color data on the LED strip. */
public void commitColor() {
leds.commitColor();
}
- public void fillColor(Color8Bit color) {
- leds.fill(color);
- }
-
@Override
public void periodic() {
// This method will be called once per scheduler run
diff --git a/src/main/java/frc/robot/subsystems/StatusLED.java b/src/main/java/frc/robot/subsystems/StatusLED.java
index 45d2b06..f7dc35c 100644
--- a/src/main/java/frc/robot/subsystems/StatusLED.java
+++ b/src/main/java/frc/robot/subsystems/StatusLED.java
@@ -7,11 +7,12 @@
package frc.robot.subsystems;
-import static frc.robot.Constants.ColorConstants.RED;
import static frc.robot.Constants.RobotConstants.LEDSegment.STATUS_FIRST_LED;
import static frc.robot.Constants.RobotConstants.LEDSegment.STATUS_LED_COUNT;
+import static frc.robot.parameters.Colors.RED;
-public class StatusLED extends LEDSubsystem {
+/** A subsystem to control the status LEDs. */
+public final class StatusLED extends LEDSubsystem {
/** Creates a new StatusLEDSubsystem. */
public StatusLED() {
super(STATUS_FIRST_LED, STATUS_LED_COUNT);
@@ -22,6 +23,5 @@ public StatusLED() {
@Override
public void periodic() {
// This method will be called once per scheduler run
-
}
}
diff --git a/src/main/java/frc/robot/util/LEDSegment.java b/src/main/java/frc/robot/util/LEDSegment.java
index 5bc5f90..49231c8 100644
--- a/src/main/java/frc/robot/util/LEDSegment.java
+++ b/src/main/java/frc/robot/util/LEDSegment.java
@@ -11,13 +11,20 @@
import edu.wpi.first.wpilibj.AddressableLEDBuffer;
import edu.wpi.first.wpilibj.util.Color8Bit;
import frc.robot.Constants.RobotConstants;
+import frc.robot.parameters.Colors;
-/** Add your docs here. */
-public class LEDSegment {
-
- private final int firstLED;
- private final int ledCount;
+/** A class representing a subsegment of an LED strip. */
+public final class LEDSegment {
+ /**
+ * Gamma Correction Table
+ *
+ * Because humans do not perceive brightness linearly, this table is used to adjust the RGB
+ * color data output to the LEDs. It results in improved color perception.
+ *
+ *
See the article at https://www.cambridgeincolour.com/tutorials/gamma-correction.htm for more
+ * information.
+ */
public static final int GAMMA_TABLE[] = {
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01,
@@ -41,6 +48,10 @@ public class LEDSegment {
new AddressableLEDBuffer(RobotConstants.LED_COUNT);
private static final AddressableLED leds = createAddressableLED(ledBuffer);
+ private final int firstLED;
+ private final int ledCount;
+
+ /** Creates and initializes the shared {@link AddressableLED} object. */
private static AddressableLED createAddressableLED(AddressableLEDBuffer buffer) {
AddressableLED led = new AddressableLED(RobotConstants.PWMPort.LED);
led.setLength(RobotConstants.LED_COUNT);
@@ -49,23 +60,69 @@ private static AddressableLED createAddressableLED(AddressableLEDBuffer buffer)
return led;
}
+ /**
+ * Creates a new LEDSegment.
+ *
+ * @param firstLED the index of the first LED in the segment
+ * @param ledCount the number of LEDs in the segment
+ */
public LEDSegment(int firstLED, int ledCount) {
this.firstLED = firstLED;
this.ledCount = ledCount;
}
+ /**
+ * Gets the number of LEDs in the segment.
+ *
+ * @return The number of LEDs in the segment.
+ */
+ public int getLEDCount() {
+ return ledCount;
+ }
+
+ /**
+ * Fills the segment with the specified color.
+ *
+ * @param color The color to fill the segment with.
+ */
+ public void fill(Colors color) {
+ fill(color.getColor());
+ }
+
+ /**
+ * Fills the segment with the specified color.
+ *
+ * @param color The color to fill the segment with.
+ */
public void fill(Color8Bit color) {
for (int i = 0; i < ledCount; i++) {
setColor(color, i + firstLED);
}
}
- public void commitColor() {
- leds.setData(ledBuffer);
+ /**
+ * Sets the color of the specified LED.
+ *
+ * @param color The color to set the LED to.
+ * @param index The index of the LED to set.
+ */
+ public void setColor(Colors color, int index) {
+ setColor(color.getColor(), index);
}
+ /**
+ * Sets the color of the specified LED.
+ *
+ * @param color The color to set the LED to.
+ * @param index The index of the LED to set.
+ */
public void setColor(Color8Bit color, int index) {
ledBuffer.setRGB(
index, GAMMA_TABLE[color.red], GAMMA_TABLE[color.green], GAMMA_TABLE[color.blue]);
}
+
+ /** Displays the current color data on the LED strip. */
+ public void commitColor() {
+ leds.setData(ledBuffer);
+ }
}