added LED

.wpilib/wpilib_preferences.json

@@ -2,5 +2,5 @@
     "enableCppIntellisense": false,
     "currentLanguage": "java",
     "projectYear": "2025",
-    "teamNumber": 2648
+    "teamNumber": 9998
 }

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

src/main/java/frc/robot/RobotContainer.java

@@ -4,19 +4,27 @@
 
 package frc.robot;
 
+import static edu.wpi.first.units.Units.Second;
+
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+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.RunCommand;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.constants.ArmConstants;
 import frc.robot.constants.IOConstants;
+import frc.robot.constants.LEDConstants;
 import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.DriveTrain;
 import frc.robot.subsystems.Grabber;
 import frc.robot.subsystems.HighFive;
+import frc.robot.subsystems.LEDs;
 
 public class RobotContainer {
     private CommandPS5Controller driver;
@@ -24,6 +32,8 @@ public class RobotContainer {
     private DriveTrain driveTrain;
     private Grabber grabber;
     private HighFive highFive;
+    private LEDs leds;
+    
 
     public RobotContainer() {
         arm = new Arm();
@@ -31,6 +41,7 @@ public class RobotContainer {
         grabber = new Grabber(); 
         driver = new CommandPS5Controller(IOConstants.kDriverID0);
         highFive = new HighFive();
+        leds = new LEDs(LEDConstants.kPWMPortID, LEDConstants.kNumLEDs);
         configureBindings();
     }
 
@@ -54,6 +65,19 @@ public class RobotContainer {
 
         driver.povDown().whileTrue(arm.runArmMotor(-1));
 
+        Trigger highFiveTrigger = new Trigger(highFive::SwitchDigitalInput);
+
+        highFiveTrigger.onFalse(
+            leds.blinkColorchange(Color.kGreen, Color.kRed, Color.kBlue, 0.5, 2)
+                .andThen(
+                    //new WaitCommand(5),
+                    leds.setAll(Color.kBlack)
+                )
+        );
+        
+        
+       
+
         Shuffleboard.getTab("HighFive")
         .addBoolean("Switch Pressed", () -> highFive.SwitchDigitalInput());
     }

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

@@ -0,0 +1,6 @@
+package frc.robot.constants;
+
+public class LEDConstants {
+    public static final int kPWMPortID = 0;
+    public static final int kNumLEDs = 256;
+}

src/main/java/frc/robot/subsystems/LEDs.java

@@ -0,0 +1,90 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.AddressableLED;
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+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.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
+
+public class LEDs extends SubsystemBase {
+    private AddressableLED leds;
+    private AddressableLEDBuffer buffer;
+
+    private int fluidColorIndex;
+
+    public LEDs(int pwmPort, int numLEDs) {
+        buffer = new AddressableLEDBuffer(numLEDs);
+        leds = new AddressableLED(pwmPort);
+        leds.setLength(numLEDs);
+        leds.setData(buffer);
+        leds.start();
+
+        fluidColorIndex = 0;
+    }
+
+    public Command fluidColor(double delayTime) {
+        return Commands.repeatingSequence(
+            runOnce(() -> {
+                for(int i = 0; i < buffer.getLength(); i++) {
+                    buffer.setHSV(i, (i + fluidColorIndex) % 180, 255, 255);
+                }
+                leds.setData(buffer);
+                fluidColorIndex++;
+            }),
+            new WaitCommand(delayTime)
+        );
+    }
+
+
+    
+
+    public Command blinkColor(Color color, double delayTime, int times) {
+        Command sequence = Commands.none(); // start with an empty command
+    
+        for (int i = 0; i < times; i++) {
+            sequence = Commands.sequence(
+                sequence,
+                setAll(color),
+                new WaitCommand(delayTime),
+                setAll(Color.kBlack),
+                new WaitCommand(delayTime)
+            );
+        }
+    
+        return sequence;
+    }
+
+    public Command blinkColorchange(Color color, Color color2, Color color3, double delayTime, int times) {
+        Command sequence = Commands.none(); // start with an empty command
+    
+        for (int i = 0; i < times; i++) {
+            sequence = Commands.sequence(
+                sequence,
+                setAll(color),
+                new WaitCommand(delayTime),
+                setAll(color2),
+                new WaitCommand(delayTime),
+                setAll(color3),
+                new WaitCommand(delayTime)
+            );
+        }
+    
+        return sequence;
+    }
+    
+    
+    
+    
+
+    public Command setAll(Color color) {
+        return runOnce(() -> {
+            for(int i = 0; i < buffer.getLength(); i++) {
+                buffer.setLED(i, color);
+            }
+    
+            leds.setData(buffer);
+        });
+    }
+}