wildercayden/Demo-Robot
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base: wildercayden:e6e16b891e34c5c76d9a9b1c9b0ef42597e406af
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wildercayden:master
wildercayden:main
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compare: wildercayden:4906c7f0fb4d051a38416c39349e2874f47d4016
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wildercayden:master
wildercayden:main

No commits in common. "e6e16b891e34c5c76d9a9b1c9b0ef42597e406af" and "4906c7f0fb4d051a38416c39349e2874f47d4016" have entirely different histories.
e6e16b891e ... 4906c7f0fb

5 changed files with 1 additions and 213 deletions
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2
.wpilib/wpilib_preferences.json
View File

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

92
simgui-ds.json
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@ -1,92 +0,0 @@
{
"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
}
]
}

24
src/main/java/frc/robot/RobotContainer.java
View File

@ -4,27 +4,19 @@
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;
@ -32,8 +24,6 @@ public class RobotContainer {
private DriveTrain driveTrain;
private Grabber grabber;
private HighFive highFive;
private LEDs leds;
public RobotContainer() {
arm = new Arm();
@ -41,7 +31,6 @@ public class RobotContainer {
grabber = new Grabber();
driver = new CommandPS5Controller(IOConstants.kDriverID0);
highFive = new HighFive();
leds = new LEDs(LEDConstants.kPWMPortID, LEDConstants.kNumLEDs);
configureBindings();
}
@ -65,19 +54,6 @@ 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());
}

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

90
src/main/java/frc/robot/subsystems/LEDs.java
View File

@ -1,90 +0,0 @@
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);
});
}
}