Adding LED stuff back in, not much has changed

simgui-ds.json

@@ -0,0 +1,56 @@
+{"keyboardJoysticks": [{
+  "axisConfig": [{
+    "decKey": 546,
+    "incKey": 549
+  }, {
+    "decKey": 568,
+    "incKey": 564
+  }, {
+    "decKey": 550,
+    "decayRate": 0,
+    "incKey": 563,
+    "keyRate": 0.01
+  }],
+  "axisCount": 3,
+  "buttonCount": 4,
+  "buttonKeys": [571, 569, 548, 567],
+  "povConfig": [{
+    "keyDown": 614,
+    "keyDownLeft": 613,
+    "keyDownRight": 615,
+    "keyLeft": 616,
+    "keyRight": 618,
+    "keyUp": 620,
+    "keyUpLeft": 619,
+    "keyUpRight": 621
+  }],
+  "povCount": 1
+}, {
+  "axisConfig": [{
+    "decKey": 555,
+    "incKey": 557
+  }, {
+    "decKey": 554,
+    "incKey": 556
+  }],
+  "axisCount": 2,
+  "buttonCount": 4,
+  "buttonKeys": [558, 597, 599, 600],
+  "povCount": 0
+}, {
+  "axisConfig": [{
+    "decKey": 513,
+    "incKey": 514
+  }, {
+    "decKey": 515,
+    "incKey": 516
+  }],
+  "axisCount": 2,
+  "buttonCount": 6,
+  "buttonKeys": [521, 519, 517, 522, 520, 518],
+  "povCount": 0
+}, {
+  "axisCount": 0,
+  "buttonCount": 0,
+  "povCount": 0
+}]}

src/main/java/first/robot/Robot.java

@@ -10,8 +10,13 @@ import org.wpilib.epilogue.Epilogue;
 import org.wpilib.epilogue.EpilogueTelemetry;
 import org.wpilib.epilogue.Logged;
 import org.wpilib.framework.OpModeRobot;
+import org.wpilib.tunable.TunableRegistry;
 
+import first.robot.constants.LEDConstants;
 import first.robot.constants.OIConstants;
+import first.robot.leds.AnimationManager;
+import first.robot.leds.PhysicalLEDStrip;
+import first.robot.leds.animations.FluidRainbow;
 import first.robot.mechanisms.Drivetrain;
 import first.robot.mechanisms.Pusher;
 import first.robot.mechanisms.Shooter;
@@ -22,6 +27,12 @@ public class Robot extends OpModeRobot {
   public final Pusher pusher;
   public final Shooter shooter;
   public final CommandGamepad gamepad;
+
+  private final PhysicalLEDStrip strip;
+
+  private AnimationManager manager;
+
+  private FluidRainbow rainbow;
   
   public Robot() {
     drive = new Drivetrain(true);
@@ -32,6 +43,19 @@ public class Robot extends OpModeRobot {
     drive.setDefaultCommand(drive.idle());
     pusher.setDefaultCommand(pusher.idle());
     shooter.setDefaultCommand(shooter.idle());
+
+    strip = new PhysicalLEDStrip(LEDConstants.kLEDPWM, LEDConstants.kNumLEDs);
+
+    manager = new AnimationManager(new PhysicalLEDStrip[] {strip});
+    
+    rainbow = new FluidRainbow(strip, LEDConstants.kRainbowUpdateRate);
+    rainbow.start();
+
+    manager.registerAnimationForUpdate(rainbow);
+
+    manager.start(LEDConstants.kAnimationManagerUpdateRate);
+
+    TunableRegistry.publish("Drive Tunables", drive);
   }
 
   @Override

src/main/java/first/robot/constants/LEDConstants.java

@@ -0,0 +1,13 @@
+package first.robot.constants;
+
+public class LEDConstants {
+    public static final int kLEDPWM = 8;
+
+    public static final int kNumLEDs = 19 * 2 + 12 * 2;
+
+    public static final double kRainbowUpdateRate = .02;
+    public static final double kBreathingUpdateRate = .03;
+    public static final double kBreathingMinPercentage = 25;
+    public static final double kBreathingMaxPercentage = 100;
+    public static final double kAnimationManagerUpdateRate = .01;
+}

src/main/java/first/robot/leds/Animation.java

@@ -0,0 +1,44 @@
+package first.robot.leds;
+
+import org.wpilib.system.Timer;
+
+public abstract class Animation {
+    private boolean enabled;
+    private double timeDelay;
+    private Timer timer;
+
+    protected LEDStrip strip;
+
+    public Animation(LEDStrip strip, double timeDelay) {
+        this.strip = strip;
+
+        timer = new Timer();
+        this.timeDelay = timeDelay;
+        enabled = false;
+    }
+
+    public boolean isEnabled() {
+        return enabled;
+    }
+
+    public void start() {
+        timer.reset();
+        timer.start();
+        enabled = true;
+    }
+
+    public void stop() {
+        timer.stop();
+        enabled = false;
+    }
+
+    public abstract boolean update();
+
+    protected boolean shouldUpdate() {
+        return enabled && timer.get() >= timeDelay;
+    }
+
+    protected void resetTiming() {
+        timer.reset();
+    }
+}

src/main/java/first/robot/leds/AnimationManager.java

@@ -0,0 +1,85 @@
+package first.robot.leds;
+
+import java.util.ArrayList;
+
+import org.wpilib.system.Notifier;
+
+public class AnimationManager {
+
+    private Notifier internalNotifier;
+    private ArrayList<Animation> animations;
+    private PhysicalLEDStrip[] ledStrips;
+    private boolean[] updateLEDStrip;
+
+    public AnimationManager(PhysicalLEDStrip[] ledStrips) {
+        this.ledStrips = ledStrips;
+        updateLEDStrip = new boolean[ledStrips.length];
+
+        for(int i = 0; i < updateLEDStrip.length; i++) {
+            updateLEDStrip[i] = false;
+        }
+
+        internalNotifier = new Notifier(() -> {
+            synchronized(animations) {
+                for(Animation animation : animations) {
+                    boolean shouldUpdate = animation.update();
+
+                    if(shouldUpdate) {
+                        int stripIndex = findStripIndex(animation.strip.getPhysicalStrip());
+
+                        if(stripIndex != -1) {
+                            updateLEDStrip[stripIndex] = true;
+                        }
+                    }
+                }
+
+                for(int i = 0; i < updateLEDStrip.length; i++) {
+                    if(updateLEDStrip[i]) {
+                        ledStrips[i].show();
+                    }
+
+                    updateLEDStrip[i] = false;
+                }
+            }
+        });
+
+        animations = new ArrayList<Animation>();
+    }
+
+    public void registerAnimationForUpdate(Animation animation) {
+        synchronized(animations) {
+            animations.add(animation);
+        }   
+    }
+
+    public void unregisterAnimation(Animation animation) {
+        synchronized(animations) {
+            animations.remove(animation);
+        }
+    }
+
+    public void unregisterAnimation(int index) {
+        synchronized(animations) {
+            animations.remove(index);
+        }
+    }
+
+    public void start(double periodSeconds) {
+        internalNotifier.startPeriodic(periodSeconds);
+    }
+
+    public void stop() {
+        internalNotifier.stop();
+    }
+
+    private int findStripIndex(LEDStrip strip) {
+        for(int i = 0; i < ledStrips.length; i++) {
+            if(ledStrips[i] == strip) {
+                return i;
+            }
+        }
+
+        return -1;
+    }
+    
+}

src/main/java/first/robot/leds/LEDStrip.java

@@ -0,0 +1,84 @@
+package first.robot.leds;
+
+import org.wpilib.util.Color;
+import org.wpilib.util.Color8Bit;
+
+/**
+ * An interface designed to create a common interface
+ * for current and future LED types. This interface can be implemented
+ * to wrap additional types of LEDs
+ */
+public interface LEDStrip {
+    /**
+     * Retrieves the number of LEDs in the strip
+     * 
+     * @return An integer representing the number of LEDs in the strip
+     */
+    public int getNumLEDs();
+
+    /**
+     * Directs the underlying physical strip to show
+     * the current internal buffer
+     */
+    public void show();
+
+    /**
+     * Returns a reference to the physical LED strip
+     * 
+     * @return The physical LED strip reference
+     */
+    public LEDStrip getPhysicalStrip();
+
+    /**
+     * Sets a particular pixel using a Color object
+     * 
+     * @param pixel The pixel index to set
+     * @param color The Color object used to specify the desired color
+     */
+    public void setRGBColor(int pixel, Color color);
+
+    /**
+     * Sets a particular pixel using a Color8Bit object
+     * 
+     * @param pixel The pixel index to set
+     * @param color The Color8Bit object used to specify the desired color
+     */
+    public void setRGBColor(int pixel, Color8Bit color);
+
+    /**
+     * Sets a particular pixel using 8 bit r, g, and b values
+     * 
+     * @param pixel The pixel index to set
+     * @param r The Red value of the RGB color (0 - 255)
+     * @param g The Green value of the RGB color (0 - 255)
+     * @param b The Blue value of the RGB color (0 - 255)
+     */
+    public void setRGBColor(int pixel, int r, int g, int b);
+
+    /**
+     * Sets a particular pixel using 8 bit h, s, v values
+     * 
+     * @param pixel The pixel index to set
+     * @param h The Hue value of the HSV color (0 - 180)
+     * @param s The Saturation value of the HSV color (0 - 255)
+     * @param v The Value value of the HSV color (0 - 255)
+     */
+    public void setHSVColor(int pixel, int h, int s, int v);
+
+    /**
+     * Returns the color at a specified pixel index using a Color object
+     * 
+     * @param pixel The pixel index to return the current color from
+     * @return The Color object representation of the specified pixel index
+     */
+    public Color getColor(int pixel);
+
+    /**
+     * Returns the color at the specified pixel index using a Color8Bit object
+     * 
+     * @param pixel The pixel index to return the current color from
+     * @return The Color8Bit object representation of the specified pixel index
+     */
+    public Color8Bit getColor8Bit(int pixel);
+
+}

src/main/java/first/robot/leds/LEDStrip2DWrapper.java

@@ -0,0 +1,104 @@
+package first.robot.leds;
+
+import org.wpilib.util.Color;
+import org.wpilib.util.Color8Bit;
+
+public class LEDStrip2DWrapper implements LEDStrip {
+    private LEDStrip strip;
+    private int width;
+    private int height;
+
+    public LEDStrip2DWrapper(LEDStrip strip, int width, int height) {
+        this.strip = strip;
+        this.width = width;
+        this.height = height;
+    }
+
+    @Override
+    public int getNumLEDs() {
+        return width * height;
+    }
+
+    public int getWidth() {
+        return width;
+    }
+
+    public int getHeight() {
+        return height;
+    }
+
+    @Override
+    public void show() {
+        strip.show();
+        
+    }
+
+    @Override
+    public LEDStrip getPhysicalStrip() {
+        return strip.getPhysicalStrip();
+    }
+
+    public void setRGBColor(int x, int y, Color color) {
+        setRGBColor(translateXY(x, y), color);
+    }
+
+    public void setRGBColor(int x, int y, Color8Bit color) {
+        setRGBColor(translateXY(x, y), color);
+    }
+
+    public void setRGBColor(int x, int y, int r, int g, int b) {
+        setRGBColor(translateXY(x, y), r, g, b);
+    }
+
+    public void setHSVColor(int x, int y, int h, int s, int v) {
+        setHSVColor(translateXY(x, y), h, s, v);
+    }
+
+    @Override
+    public void setRGBColor(int pixel, Color color) {
+        strip.setRGBColor(pixel, color);
+        
+    }
+
+    @Override
+    public void setRGBColor(int pixel, Color8Bit color) {
+        strip.setRGBColor(pixel, color);
+    }
+
+    @Override
+    public void setRGBColor(int pixel, int r, int g, int b) {
+        strip.setRGBColor(pixel, r, g, b);
+        
+    }
+
+    @Override
+    public void setHSVColor(int pixel, int h, int s, int v) {
+        strip.setHSVColor(pixel, h, s, v);
+        
+    }
+
+    public Color getColor(int x, int y) {
+        return getColor(translateXY(x, y));
+    }
+
+    public Color8Bit getColor8Bit(int x, int y) {
+        return getColor8Bit(translateXY(x, y));
+    }
+
+    @Override
+    public Color getColor(int pixel) {
+        return strip.getColor(pixel);
+    }
+
+    @Override
+    public Color8Bit getColor8Bit(int pixel) {
+        return strip.getColor8Bit(pixel);
+    }
+
+    protected int translateXY(int x, int y) {
+        //TODO This should throw out of range when appropriate
+        //TODO Serpentine mode?
+        return y * width + x;
+    }
+    
+}

src/main/java/first/robot/leds/LogicalLEDStrip.java

@@ -0,0 +1,67 @@
+package first.robot.leds;
+
+import org.wpilib.util.Color;
+import org.wpilib.util.Color8Bit;
+
+public class LogicalLEDStrip implements LEDStrip{
+
+    private LEDStrip strip;
+    private int startPixel;
+    private int endPixel;
+
+    public LogicalLEDStrip(LEDStrip strip, int startPixel, int endPixel) {
+        this.strip = strip;
+        this.startPixel = startPixel;
+        this.endPixel = endPixel;
+    }
+
+    @Override
+    public int getNumLEDs() {
+        return endPixel - startPixel;
+    }
+
+    @Override
+    public void show() {
+        strip.show(); 
+    }
+
+    @Override
+    public void setRGBColor(int pixel, Color color) {
+        strip.setRGBColor(rescaleIndex(pixel), color);
+    }
+
+    @Override
+    public void setRGBColor(int pixel, Color8Bit color) {
+        strip.setRGBColor(rescaleIndex(pixel), color);
+    }
+
+    @Override
+    public void setRGBColor(int pixel, int r, int g, int b) {
+        strip.setRGBColor(rescaleIndex(pixel), r, g, b);
+    }
+
+    @Override
+    public void setHSVColor(int pixel, int h, int s, int v) {
+        strip.setHSVColor(rescaleIndex(pixel), h, s, v);
+    }
+
+    @Override
+    public Color getColor(int pixel) {
+        return strip.getColor(rescaleIndex(pixel));
+    }
+
+    @Override
+    public Color8Bit getColor8Bit(int pixel) {
+        return strip.getColor8Bit(rescaleIndex(pixel));
+    }
+    
+    //TODO This should be hardened to throw an IndexOutOfBound Exception
+    private int rescaleIndex(int pixel) {
+        return startPixel + pixel;
+    }
+
+    @Override
+    public LEDStrip getPhysicalStrip() {
+        return strip.getPhysicalStrip();
+    }
+}

src/main/java/first/robot/leds/PhysicalLEDStrip.java

@@ -0,0 +1,64 @@
+package first.robot.leds;
+
+import org.wpilib.hardware.led.AddressableLED;
+import org.wpilib.hardware.led.AddressableLEDBuffer;
+import org.wpilib.util.Color;
+import org.wpilib.util.Color8Bit;
+
+public class PhysicalLEDStrip implements LEDStrip {
+    private AddressableLED led;
+    private AddressableLEDBuffer buffer;
+
+    public PhysicalLEDStrip(int portNum, int numLEDs) {
+        led = new AddressableLED(portNum);
+        led.setLength(numLEDs);
+
+        buffer = new AddressableLEDBuffer(numLEDs);
+        led.setData(buffer);
+    }
+
+    @Override
+    public void show() {
+        led.setData(buffer);
+    }
+
+    @Override
+    public int getNumLEDs() {
+        return buffer.getLength();
+    }
+
+    @Override
+    public void setRGBColor(int pixel, Color color) {
+        buffer.setLED(pixel, color);
+    }
+
+    @Override
+    public void setRGBColor(int pixel, Color8Bit color) {
+        buffer.setLED(pixel, color);
+    }
+
+    @Override
+    public void setRGBColor(int pixel, int r, int g, int b) {
+        buffer.setLED(pixel, new Color8Bit(r, g, b));
+    }
+
+    @Override
+    public void setHSVColor(int pixel, int h, int s, int v) {
+        buffer.setHSV(pixel, h, s, v);
+    }
+
+    @Override
+    public Color getColor(int pixel) {
+        return buffer.getLED(pixel);
+    }
+
+    @Override
+    public Color8Bit getColor8Bit(int pixel) {
+        return new Color8Bit(getColor(pixel));
+    }
+
+    @Override
+    public LEDStrip getPhysicalStrip() {
+        return this;
+    }
+}

src/main/java/first/robot/leds/animations/Alternate.java

@@ -0,0 +1,46 @@
+package first.robot.leds.animations;
+
+import org.wpilib.util.Color8Bit;
+
+import first.robot.leds.Animation;
+import first.robot.leds.LEDStrip;
+
+public class Alternate extends Animation {
+    private Color8Bit[] colors;
+    private int alternateSize;
+    private int alternateInt;
+
+    public Alternate(LEDStrip strip, double timeDelay, Color8Bit[] colors, int alternateSize) {
+        super(strip, timeDelay);
+        this.colors = colors;
+        this.alternateSize = alternateSize;
+        alternateInt = 0;
+    }
+
+    @Override
+    public boolean update() {
+        if(shouldUpdate()) {
+            for(int i = 0; i < strip.getNumLEDs(); i += alternateSize) {
+                Color8Bit targetColor = colors[((i / alternateSize) + alternateInt) % colors.length];
+
+                for(int j = i; j < i + alternateSize; j++) {
+                    strip.setRGBColor(j, targetColor);
+                }
+            }
+
+            alternateInt++;
+
+            if(alternateInt >= colors.length) {
+                alternateInt = 0;
+            }
+
+            resetTiming();
+
+            return true;
+        }
+
+        return false;
+    }
+
+    
+}

src/main/java/first/robot/leds/animations/Breathing.java

@@ -0,0 +1,57 @@
+package first.robot.leds.animations;
+
+import org.wpilib.util.Color8Bit;
+
+import first.robot.leds.Animation;
+import first.robot.leds.LEDStrip;
+
+public class Breathing extends Animation {
+    private Color8Bit originalColor;
+    private double minPercentage;
+    private double maxPercentage;
+    private double currentPercentage;
+    private double currentAdditive;
+
+    public Breathing(LEDStrip strip, double timeDelay, Color8Bit originalColor, double minPercentage, double maxPercentage) {
+        super(strip, timeDelay);
+        
+        this.originalColor = originalColor;
+        this.minPercentage = minPercentage;
+        this.maxPercentage = maxPercentage;
+        currentPercentage = minPercentage;
+        currentAdditive = 1;
+    }
+
+    @Override
+    public boolean update() {
+        if(shouldUpdate()) {
+            Color8Bit nextColor = new Color8Bit(
+                (int)(originalColor.red * currentPercentage / 100.0), 
+                (int)(originalColor.green * currentPercentage / 100.0),
+                (int)(originalColor.blue * currentPercentage / 100.0));
+
+            for(int i = 0; i < strip.getNumLEDs(); i++) {
+                strip.setRGBColor(i, nextColor);
+            }
+
+            currentPercentage += currentAdditive;
+
+            if(currentAdditive > 0) {
+                if(currentPercentage > maxPercentage) {
+                    currentAdditive *= -1;
+                }
+            } else {
+                if(currentPercentage < minPercentage) {
+                    currentAdditive *= -1;
+                }
+            }
+
+            resetTiming();
+
+            return true;
+        }
+
+        return false;
+    }
+    
+}

src/main/java/first/robot/leds/animations/Collision.java

@@ -0,0 +1,57 @@
+package first.robot.leds.animations;
+
+import org.wpilib.util.Color8Bit;
+
+import first.robot.leds.Animation;
+import first.robot.leds.LEDStrip;
+
+public class Collision extends Animation {
+    private Color8Bit color1;
+    private Color8Bit color2;
+
+    private int collisionInt;
+
+    public Collision(LEDStrip strip, double timeDelay, Color8Bit color1, Color8Bit color2) {
+        super(strip, timeDelay);
+        
+        this.color1 = color1;
+        this.color2 = color2;
+
+        collisionInt = 0;
+    }
+
+    @Override
+    public boolean update() {
+        if(shouldUpdate()) {
+            if(collisionInt == 0) {
+                for(int i = 0; i < strip.getNumLEDs(); i++) {
+                    strip.setRGBColor(i, 0, 0, 0);
+                }
+
+                strip.setRGBColor(0, color1);
+                strip.setRGBColor(strip.getNumLEDs() - 1, color2);
+
+                collisionInt++;
+
+                resetTiming();
+                return true;
+            } else if(collisionInt < strip.getNumLEDs()) {
+                strip.setRGBColor(collisionInt, color1);
+                strip.setRGBColor(strip.getNumLEDs() - collisionInt - 1, color2);
+
+                collisionInt++;
+
+                resetTiming();
+                return true;
+            } else {
+                collisionInt = 0;
+
+                //Don't reset timing here. 
+                //Forces an immediate update to clear the LEDs
+                return false;
+            }
+        }
+        return false;
+    }
+    
+}

src/main/java/first/robot/leds/animations/ColorRandomizer.java

@@ -0,0 +1,116 @@
+package first.robot.leds.animations;
+
+import java.util.Random;
+
+import org.wpilib.util.Color;
+import org.wpilib.util.Color8Bit;
+
+import first.robot.leds.Animation;
+import first.robot.leds.LEDStrip;
+
+public class ColorRandomizer extends Animation {
+    private Color[] colors;
+    private Color[] fadingValues;
+    private Random random;
+    private int colorRandomizerInt;
+    private int fadeScale;
+    private boolean shouldFade;
+    private boolean isFading;
+
+    public ColorRandomizer(LEDStrip strip, double timeDelay, Color8Bit[] colors, 
+        boolean shouldFade, int fadeScale) {
+        super(strip, timeDelay);
+        
+        this.colors = new Color[colors.length];
+
+        for(int i = 0; i < colors.length; i++) {
+            this.colors[i] = new Color(colors[i]);
+        }
+
+        random = new Random();
+
+        fadingValues = new Color[colors.length];
+
+        this.shouldFade = shouldFade;
+        this.fadeScale = fadeScale;
+        colorRandomizerInt = 0;
+        isFading = false;
+    }
+
+    @Override
+    public boolean update() {
+        if(shouldUpdate()) {
+            if(shouldFade && isFading) {
+                if(colorRandomizerInt == 0) {
+                    for(int i = 0; i < strip.getNumLEDs(); i++) {
+                        Color currentColor = strip.getColor(i);
+
+                        fadingValues[i] = new Color(
+                            currentColor.red / fadeScale,
+                            currentColor.green / fadeScale,
+                            currentColor.blue / fadeScale
+                        );
+                    }
+
+                    colorRandomizerInt++;
+                } else if(colorRandomizerInt > 0 && colorRandomizerInt < fadeScale + 1) {
+                    for(int i = 0; i < strip.getNumLEDs(); i++) {
+                        Color currentColor = strip.getColor(i);
+                        double nextRed = 0;
+                        double nextGreen = 0;
+                        double nextBlue = 0;
+
+                        if(currentColor.red == 0) {
+                            nextRed = 0;
+                        } else if(currentColor.red - fadingValues[i].red < 0) {
+                            nextRed = 0;
+                        } else {
+                            nextRed = currentColor.red - fadingValues[i].red;
+                        }
+
+                        if(currentColor.green == 0) {
+                            nextGreen = 0;
+                        } else if(currentColor.green - fadingValues[i].green < 0) {
+                            nextGreen = 0;
+                        } else {
+                            nextGreen = currentColor.green - fadingValues[i].green;
+                        }
+
+                        if(currentColor.blue == 0) {
+                            nextBlue = 0;
+                        } else if(currentColor.blue - fadingValues[i].blue < 0) {
+                            nextBlue = 0;
+                        } else {
+                            nextBlue = currentColor.blue - fadingValues[i].blue;
+                        }
+
+                        strip.setRGBColor(i, new Color(nextRed, nextGreen, nextBlue));
+                    }
+
+                    colorRandomizerInt++;
+
+                    resetTiming();
+
+                    return true;
+                } else {
+                    colorRandomizerInt = 0;
+                    isFading = false;
+                }
+            } else { 
+                for(int i = 0; i < strip.getNumLEDs(); i++) {
+                    strip.setRGBColor(i, colors[random.nextInt(colors.length)]);
+                }
+
+                if(shouldFade) {
+                    isFading = true;
+                }
+
+                resetTiming();
+                return true;
+            }
+        }
+
+        return false;
+    }
+    
+}

src/main/java/first/robot/leds/animations/CycleLight.java

@@ -0,0 +1,58 @@
+package first.robot.leds.animations;
+
+import org.wpilib.util.Color8Bit;
+
+import first.robot.leds.Animation;
+import first.robot.leds.LEDStrip;
+
+public class CycleLight extends Animation {
+    private Color8Bit[] colors;
+    private int cycleLightInt;
+    private int currentColorIndex;
+
+    public CycleLight(LEDStrip strip, double timeDelay, Color8Bit[] colors) {
+        super(strip, timeDelay);
+        
+        this.colors = colors;
+
+        cycleLightInt = 0;
+        currentColorIndex = 0;
+    }
+
+    @Override
+    public boolean update() {
+        if(shouldUpdate()) {
+            if(cycleLightInt == 0) {
+                for(int i = 0; i < strip.getNumLEDs(); i++) {
+                    strip.setRGBColor(i, 0, 0, 0);
+                }
+    
+                strip.setRGBColor(cycleLightInt, colors[currentColorIndex]);
+                cycleLightInt++;
+
+                resetTiming();
+
+                return true;
+            } else if(cycleLightInt < strip.getNumLEDs()) {
+                strip.setRGBColor(cycleLightInt, colors[currentColorIndex]);
+                cycleLightInt++;
+
+                resetTiming();
+
+                return true;
+            } else {
+                cycleLightInt = 0;
+
+                currentColorIndex++;
+
+                if(currentColorIndex >= colors.length) {
+                    currentColorIndex = 0;
+                }
+            }
+        } 
+
+        return false;
+    }
+
+    
+}

src/main/java/first/robot/leds/animations/FluidRainbow.java

@@ -0,0 +1,31 @@
+package first.robot.leds.animations;
+
+import first.robot.leds.Animation;
+import first.robot.leds.LEDStrip;
+
+public class FluidRainbow extends Animation {
+
+    private int hsvShift;
+
+    public FluidRainbow(LEDStrip strip, double timeDelay) {
+        super(strip, timeDelay);
+    }
+
+    @Override
+    public boolean update() {
+        if(shouldUpdate()) {
+            for(int i = 0; i < strip.getNumLEDs(); i++) {
+                strip.setHSVColor(i, i + (hsvShift % 180), 255, 255);
+            }
+    
+            hsvShift++;
+
+            resetTiming();
+
+            return true;
+        }
+        
+        return false;
+    }
+    
+}

src/main/java/first/robot/leds/animations/IndicatorLight.java

@@ -0,0 +1,35 @@
+package first.robot.leds.animations;
+
+import java.util.function.BooleanSupplier;
+
+import org.wpilib.util.Color;
+import org.wpilib.util.Color8Bit;
+
+import first.robot.leds.Animation;
+import first.robot.leds.LEDStrip;
+
+public class IndicatorLight extends Animation {
+    private BooleanSupplier indicatorSupplier;
+    private Color8Bit color;
+
+    public IndicatorLight(LEDStrip strip, double timeDelay, BooleanSupplier indicatorSupplier, Color8Bit color) {
+        super(strip, timeDelay);
+        
+        this.indicatorSupplier = indicatorSupplier;
+        this.color = color;
+    }
+
+    @Override
+    public boolean update() {
+        if(shouldUpdate()) {
+            for(int i = 0; i < strip.getNumLEDs(); i++) {
+                strip.setRGBColor(i, indicatorSupplier.getAsBoolean() ? new Color(color) : Color.BLACK);
+            }
+
+            resetTiming();
+
+            return true;
+        }
+        return false;
+    }
+}

src/main/java/first/robot/leds/animations/InputMeter.java

@@ -0,0 +1,71 @@
+package first.robot.leds.animations;
+
+import java.util.function.DoubleSupplier;
+
+import org.wpilib.util.Color;
+
+import first.robot.leds.Animation;
+import first.robot.leds.LEDStrip;
+
+public class InputMeter extends Animation {
+    private DoubleSupplier inputSupplier;
+    private double minValue;
+    private double maxValue;
+
+    private int yellowStartPixel;
+    private int redStartPixel;
+
+    public InputMeter(LEDStrip strip, double timeDelay, DoubleSupplier inputSupplier, 
+        double minValue, double maxValue) {
+        super(strip, timeDelay);
+        
+        this.inputSupplier = inputSupplier;
+        this.minValue = minValue;
+        this.maxValue = maxValue;
+
+        redStartPixel = (int)(strip.getNumLEDs() - Math.ceil(strip.getNumLEDs() * .1));
+        yellowStartPixel = (int)(strip.getNumLEDs() - Math.ceil(strip.getNumLEDs() * .1) - Math.ceil(strip.getNumLEDs() * .2));
+    }
+
+    @Override
+    public boolean update() {
+        if(shouldUpdate()) {
+            int remappedInput = (int)remapInput(inputSupplier.getAsDouble(), minValue, maxValue, 0, strip.getNumLEDs()-1);
+
+            if(remappedInput > yellowStartPixel) {
+                for(int i = 0; i < yellowStartPixel; i++) {
+                    strip.setRGBColor(i, Color.GREEN);
+                }
+
+                if(remappedInput > redStartPixel) {
+                    for(int i = yellowStartPixel; i < redStartPixel; i++) {
+                        strip.setRGBColor(i, Color.YELLOW);
+                    }
+
+                    for(int i = redStartPixel; i < remappedInput; i++) {
+                        strip.setRGBColor(i, Color.RED);
+                    }
+                } else {
+                    for(int i = yellowStartPixel; i < remappedInput; i++) {
+                        strip.setRGBColor(i, Color.YELLOW);
+                    }
+                }
+            } else {
+                for(int i = 0; i < remappedInput; i++) {
+                    strip.setRGBColor(i, Color.GREEN);
+                }
+            }
+
+            resetTiming();
+
+            return true;
+        }
+
+        return false;
+    }
+
+    private double remapInput(double x, double inMin, double inMax, double outMin, double outMax) {
+        return (x - inMin) * (outMax - outMin) / (inMax - inMin) + outMin;
+    }
+    
+}

src/main/java/first/robot/leds/animations2D/Ricochet2D.java

@@ -0,0 +1,56 @@
+package first.robot.leds.animations2D;
+
+import java.util.Random;
+
+import org.wpilib.util.Color8Bit;
+
+import first.robot.leds.Animation;
+import first.robot.leds.LEDStrip2DWrapper;
+
+public class Ricochet2D extends Animation {
+    private RicochetHelper[] helpers;
+    private Random random;
+    private LEDStrip2DWrapper wrapper;
+
+    public Ricochet2D(LEDStrip2DWrapper wrapper, double timeDelay, 
+        int numBalls, Color8Bit[] colors) {
+
+        super(wrapper, timeDelay);
+        this.wrapper = wrapper;
+
+        helpers = new RicochetHelper[numBalls];
+        random = new Random();
+
+        for(int i = 0; i < numBalls; i++) {
+            helpers[i] = new RicochetHelper(random.nextInt(wrapper.getWidth()), 
+                random.nextInt(wrapper.getHeight()), wrapper.getWidth(), 
+                wrapper.getHeight(), colors[random.nextInt(colors.length)]);
+        }
+    }
+
+    @Override
+    public boolean update() {
+        if(shouldUpdate()) {
+            for(int i = 0; i < wrapper.getWidth(); i++) {
+                for(int j = 0; j < wrapper.getHeight(); j++) {
+                    wrapper.setRGBColor(i, j, 0, 0, 0);
+                }
+            }
+
+            for(int i = 0; i < helpers.length; i++) {
+                helpers[i].updatePosition();
+
+                wrapper.setRGBColor(helpers[i].getCurrentXPosition(), 
+                    helpers[i].getCurrentYPosition(), 
+                    helpers[i].getCurrentColor());
+            }
+
+            resetTiming();
+
+            return true;
+        }
+        
+        return false;
+    }
+    
+}

src/main/java/first/robot/leds/animations2D/RicochetHelper.java

@@ -0,0 +1,68 @@
+package first.robot.leds.animations2D;
+
+import java.util.Random;
+
+import org.wpilib.util.Color8Bit;
+
+public class RicochetHelper {
+    private int currentX;
+    private int currentY;
+    private int width;
+    private int height;
+    private int xDirection;
+    private int yDirection;
+    private Color8Bit color;
+    private Random random;
+
+    public RicochetHelper(int currentX, int currentY, int width, 
+        int height, Color8Bit color) {
+        this.currentX = currentX;
+        this.currentY = currentY;
+        this.width = width;
+        this.height = height;
+        this.color = color;
+
+        random = new Random();
+
+        if(currentX == 0) {
+            xDirection = 1;
+        } else if(currentX == width - 1) {
+            xDirection = -1;
+        } else {
+            xDirection = random.nextBoolean() ? -1 : 1;
+        }
+
+        if(currentY == 0) {
+            yDirection = 1;
+        } else if(currentY == height - 1) {
+            yDirection = -1;
+        } else {
+            yDirection = random.nextBoolean() ? -1 : 1;
+        }
+    }
+
+    public int getCurrentXPosition() {
+        return currentX;
+    }
+
+    public int getCurrentYPosition() {
+        return currentY;
+    }
+
+    public Color8Bit getCurrentColor() {
+        return color;
+    }
+
+    public void updatePosition() {
+        if(currentX + xDirection >= width || currentX + xDirection < 0) {
+            xDirection *= -1;
+        }
+
+        if(currentY + yDirection >= height || currentY + yDirection < 0) {
+            yDirection *= -1;
+        }
+
+        currentX += xDirection;
+        currentY += yDirection;
+    }
+}

src/main/java/first/robot/mechanisms/Drivetrain.java

@@ -6,11 +6,13 @@ import org.wpilib.command3.button.CommandGamepad;
 import org.wpilib.drive.DifferentialDrive;
 import org.wpilib.drivers.motor.VictorSP;
 import org.wpilib.epilogue.Logged;
+import org.wpilib.tunable.ComplexTunable;
+import org.wpilib.tunable.TunableTable;
 
 import first.robot.constants.DrivetrainConstants;
 
 @Logged
-public class Drivetrain implements Mechanism {
+public class Drivetrain implements Mechanism,ComplexTunable {
     private VictorSP frontLeft;
     private VictorSP rearLeft;
     private VictorSP frontRight;
@@ -72,4 +74,9 @@ public class Drivetrain implements Mechanism {
         })
         .named("Drivetrain.Stop");
     }
+
+    @Override
+    public void publishTunable(TunableTable table) {
+        table.publishBoolean("Slow Mode", () -> slowMode, (b) -> slowMode = b);
+    }
 }

src/main/java/first/robot/mechanisms/Shooter.java

@@ -5,6 +5,7 @@ import java.util.function.DoubleSupplier;
 import org.wpilib.command3.Command;
 import org.wpilib.command3.Mechanism;
 import org.wpilib.epilogue.Logged;
+import org.wpilib.math.controller.PIDController;
 
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkLowLevel.MotorType;