added LEDs

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

@@ -6,29 +6,39 @@ package frc.robot;
 
 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.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 {
-    CommandPS5Controller driver;
-
-    Arm arm;
-
-    DriveTrain driveTrain;
-    Grabber grabber;
+    private CommandPS5Controller driver;
+    private Arm arm;
+    private DriveTrain driveTrain;
+    private Grabber grabber;
+    private HighFive highFive;
+    private LEDs leds;
+    
 
     public RobotContainer() {
         arm = new Arm();
         driveTrain = new DriveTrain();
         grabber = new Grabber(); 
         driver = new CommandPS5Controller(IOConstants.kDriverID0);
+        highFive = new HighFive();
+        leds = new LEDs(LEDConstants.kPWMPortID, LEDConstants.kNumLEDs);
         configureBindings();
     }
 
@@ -39,13 +49,30 @@ public class RobotContainer {
               driver::getLeftX 
             )
         );  
+        
         grabber.setDefaultCommand(grabber.stop());
+
         driver.R1().whileTrue(grabber.runGrabberMotor(1));
+
         driver.L1().whileTrue(grabber.runGrabberMotor(-1));
+
         arm.setDefaultCommand(arm.stop());
+
         driver.povUp().whileTrue(arm.runArmMotor(1));
+
         driver.povDown().whileTrue(arm.runArmMotor(-1));
+
+        Trigger highFiveTrigger = new Trigger(highFive::SwitchDigitalInput);
+
+        highFiveTrigger.whileTrue(
+            new RunCommand(() -> leds.setAll(Color.kRed), leds)
+        );
+       
+
+        Shuffleboard.getTab("HighFive")
+        .addBoolean("Switch Pressed", () -> highFive.SwitchDigitalInput());
     }
+    
 
     public Command getAutonomousCommand() {
         return Commands.print("No autonomous command configured");

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/DriveTrain.java

@@ -2,7 +2,6 @@ package frc.robot.subsystems;
 import java.util.function.DoubleSupplier;
 
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-import com.ctre.phoenix6.controls.Follower;
 
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -28,9 +27,9 @@ public class DriveTrain extends SubsystemBase {
 
         drive = new DifferentialDrive(motorLeftFt, motorRightFt);
     }
+
     public Command driveArcade(DoubleSupplier xSpeed, DoubleSupplier zRotation) {
         return run(() -> {
-            
             drive.arcadeDrive(xSpeed.getAsDouble(), zRotation.getAsDouble()); 
         });
     }

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

@@ -12,18 +12,19 @@ public class Grabber extends SubsystemBase {
     private WPI_TalonSRX motorRight;
     private WPI_TalonSRX motorLeft;
 
-        
     public Grabber() {
         motorRight = new WPI_TalonSRX(GrabberConstants.kGrabberRtMotorID7);
         motorLeft = new WPI_TalonSRX(GrabberConstants.kGrabberLtMotorID6);
 
         motorLeft.follow(motorRight);
     }
-        public Command runGrabberMotor(double speed) {
+
+    public Command runGrabberMotor(double speed) {
         return run(() -> {
             motorRight.set(speed);
         });
     }
+
     public Command stop() {
         return run(() -> motorRight.set(0));
     }

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

@@ -0,0 +1,16 @@
+package frc.robot.subsystems;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class HighFive extends SubsystemBase {
+    private DigitalInput switchDigitalInput;
+
+    public HighFive(){
+        switchDigitalInput = new DigitalInput(0);
+    }
+
+    public boolean SwitchDigitalInput() {
+        return switchDigitalInput.get();
+    }     
+
+}

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

@@ -0,0 +1,58 @@
+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) {
+        return Commands.repeatingSequence(
+            setAll(color),
+            new WaitCommand(delayTime),
+            setAll(Color.kBlack),
+            new WaitCommand(delayTime)
+        );
+    }
+
+    public Command setAll(Color color) {
+        return runOnce(() -> {
+            for(int i = 0; i < buffer.getLength(); i++) {
+                buffer.setLED(i, color);
+            }
+    
+            leds.setData(buffer);
+        });
+    }
+}