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Twinkler plus removing the need for a controller when running in simulation

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This commit is contained in:
Bradley Bickford 2025-10-23 12:43:55 -04:00
parent 27570d8c2e
commit 941d43a348
2 changed files with 148 additions and 8 deletions
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39
src/main/java/frc/robot/RobotContainer.java
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@ -4,32 +4,55 @@
package frc.robot;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.util.Color;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.robot.constants.LEDConstants;
import frc.robot.constants.OIConstants;
import frc.robot.subsystems.LEDs;
public class RobotContainer {
private LEDs leds;
private CommandXboxController driver;
private DigitalInput allRed;
private DigitalInput blinkOrange;
private DigitalInput blinkGreen;
private DigitalInput fluidColor;
private DigitalInput twinkle;
public RobotContainer() {
leds = new LEDs(LEDConstants.kPWMPortID, LEDConstants.kNumLEDs);
driver = new CommandXboxController(OIConstants.kDriverUSB);
allRed = new DigitalInput(0);
blinkOrange = new DigitalInput(1);
blinkGreen = new DigitalInput(2);
fluidColor = new DigitalInput(3);
twinkle = new DigitalInput(4);
configureBindings();
}
private void configureBindings() {
driver.a().onTrue(leds.setAll(Color.kRed));
driver.b().onTrue(leds.blinkColor(Color.kOrange, .5));
driver.x().onTrue(leds.blinkColor(Color.kLimeGreen, .5));
driver.y().onTrue(leds.fluidColor(.02));
new Trigger(allRed::get).onTrue(
leds.setAll(Color.kRed)
);
new Trigger(blinkOrange::get).onTrue(
leds.blinkColor(Color.kOrange, .5)
);
new Trigger(blinkGreen::get).onTrue(
leds.blinkColor(Color.kLimeGreen, .5)
);
new Trigger(fluidColor::get).onTrue(
leds.fluidColor(.02)
);
new Trigger(twinkle::get).onTrue(
leds.twinkle(.02, LEDConstants.kNumLEDs / 8)
);
}

117
src/main/java/frc/robot/subsystems/LEDs.java
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@ -1,5 +1,8 @@
package frc.robot.subsystems;
import java.util.ArrayList;
import java.util.Random;
import edu.wpi.first.wpilibj.AddressableLED;
import edu.wpi.first.wpilibj.AddressableLEDBuffer;
import edu.wpi.first.wpilibj.util.Color;
@ -12,9 +15,13 @@ public class LEDs extends SubsystemBase {
private AddressableLED leds;
private AddressableLEDBuffer buffer;
private Random random;
private int fluidColorIndex;
public LEDs(int pwmPort, int numLEDs) {
random = new Random();
buffer = new AddressableLEDBuffer(numLEDs);
leds = new AddressableLED(pwmPort);
leds.setLength(numLEDs);
@ -24,6 +31,50 @@ public class LEDs extends SubsystemBase {
fluidColorIndex = 0;
}
public Command twinkle(double delayTime, int maxTwinkles) {
ArrayList<Twinkler> twinkles = new ArrayList<Twinkler>();
for(int i = 0; i < maxTwinkles; i++) {
twinkles.add(new Twinkler(
random.nextInt(180),
Twinkler.getNextUnusedIndex(
random,
buffer.getLength(),
twinkles.stream().filter(Twinkler::isRunning).mapToInt(Twinkler::getIndex).toArray()
),
Twinkler.kAllowedSpeeds[random.nextInt(Twinkler.kAllowedSpeeds.length)],
random.nextBoolean()
));
}
return setAll(Color.kBlack).andThen(
Commands.repeatingSequence(
runOnce(() -> {
for(Twinkler twinkler: twinkles) {
if (twinkler.isRunning()) {
twinkler.update(buffer);
} else {
if(random.nextBoolean()) {
twinkler.reset(
random.nextInt(180),
Twinkler.getNextUnusedIndex(
random,
buffer.getLength(),
twinkles.stream().filter(Twinkler::isRunning).mapToInt(Twinkler::getIndex).toArray()
),
Twinkler.kAllowedSpeeds[random.nextInt(Twinkler.kAllowedSpeeds.length)]
);
}
}
}
leds.setData(buffer);
}),
new WaitCommand(delayTime)
)
);
}
public Command fluidColor(double delayTime) {
return Commands.repeatingSequence(
runOnce(() -> {
@ -55,4 +106,70 @@ public class LEDs extends SubsystemBase {
leds.setData(buffer);
});
}
private class Twinkler {
private int hue;
private int index;
private int updateStep;
private int updateDirection;
private boolean isRunning;
public static final int[] kAllowedSpeeds = {4, 8, 16, 32};
public Twinkler(int hue, int index, int changeSpeed, boolean shouldRun) {
reset(hue, index, changeSpeed);
isRunning = shouldRun;
}
public int getIndex() {
return index;
}
public boolean isRunning() {
return isRunning;
}
public void reset(int hue, int index, int changeSpeed) {
this.hue = hue;
this.index = index;
isRunning = true;
updateStep = 1;
updateDirection = changeSpeed;
}
public void update(AddressableLEDBuffer buffer) {
buffer.setHSV(index, hue, 255, updateStep);
updateStep += updateDirection;
if(updateStep > 255) {
updateStep -= updateDirection;
updateDirection *= -1;
} else if(updateStep < 1) {
isRunning = false;
}
}
public static int getNextUnusedIndex(Random random, int stripLength, int[] allIndexesInUse) {
// TODO Probably should timeout
int nextTry;
while (true) {
nextTry = random.nextInt(stripLength);
for(int i: allIndexesInUse) {
if (i == nextTry) {
continue;
}
}
break;
}
return nextTry;
}
}
}