added LEDs

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

@@ -6,27 +6,74 @@ 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 {
-    CommandXboxController driver;
+    private CommandPS5Controller driver;
+    private Arm arm;
+    private DriveTrain driveTrain;
+    private Grabber grabber;
+    private HighFive highFive;
+    private LEDs leds;
     
-    Arm arm;
 
     public RobotContainer() {
         arm = new Arm();
-        driver = new CommandXboxController(IOConstants.kDriverID0);
+        driveTrain = new DriveTrain();
+        grabber = new Grabber(); 
+        driver = new CommandPS5Controller(IOConstants.kDriverID0);
+        highFive = new HighFive();
+        leds = new LEDs(LEDConstants.kPWMPortID, LEDConstants.kNumLEDs);
         configureBindings();
     }
 
     private void configureBindings() {
+        driveTrain.setDefaultCommand(
+            driveTrain.driveArcade(
+              driver::getLeftY, 
+              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/GrabberConstants.java

@@ -0,0 +1,6 @@
+package frc.robot.constants;
+
+public class GrabberConstants {
+    public static final int kGrabberLtMotorID6 = 6;
+    public static final int kGrabberRtMotorID7 = 7;
+}

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/Arm.java

@@ -18,4 +18,8 @@ public class Arm extends SubsystemBase {
             motor.set(speed);
         });
     }
+
+    public Command stop() {
+        return run(() -> motor.set(0));
+    }
 }

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;
@@ -28,17 +27,10 @@ public class DriveTrain extends SubsystemBase {
 
         drive = new DifferentialDrive(motorLeftFt, motorRightFt);
     }
+
     public Command driveArcade(DoubleSupplier xSpeed, DoubleSupplier zRotation) {
         return run(() -> {
-            //makes car like steering possible
             drive.arcadeDrive(xSpeed.getAsDouble(), zRotation.getAsDouble()); 
         });
     }
-
-    public Command driveTank(DoubleSupplier leftSpeed, DoubleSupplier rightSpeed) {
-        return run(() -> {
-            //makes tank steering possible
-            drive.tankDrive(leftSpeed.getAsDouble(), rightSpeed.getAsDouble()); 
-        });
-    }
 }

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

@@ -0,0 +1,31 @@
+package frc.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.ArmConstants;
+import frc.robot.constants.DriveTrainConstants;
+import frc.robot.constants.GrabberConstants;
+
+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) {
+        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);
+        });
+    }
+}