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

@@ -4,30 +4,86 @@
 
 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 {
-    CommandXboxController driver;
-
-    Arm arm;
+    private CommandPS5Controller driver;
+    private Arm arm;
+    private DriveTrain driveTrain;
+    private Grabber grabber;
+    private HighFive highFive;
+    private LEDs leds;
+    
 
     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.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());
     }
+    
 
     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 +1,90 @@
+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);
+        });
+    }
+}