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LED #12

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LED #12

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4f1c2ce
Set up LED
eckshn Nov 20, 2020
36be9b9
current progress (need to switch branch)
eckshn Nov 27, 2020
269369b
Change colors
eckshn Nov 27, 2020
4e9a95a
Add rainbow method
eckshn Nov 27, 2020
b0be0e6
Finish LED subsystem
eckshn Jan 20, 2021
6fd6b12
add LED command and set in respective
eckshn Jul 14, 2021
8acc98c
add comments
eckshn Jul 14, 2021
71d9587
gradle plz work
eckshn Jul 19, 2021
264f261
Update Constants.kt
eckshn Sep 8, 2021
8cdef08
make code build
eckshn Sep 23, 2021
e75cf5d
merge master
eckshn Sep 24, 2021
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1 change: 0 additions & 1 deletion src/main/kotlin/com/team4099/robot2021/Robot.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,6 @@ package com.team4099.robot2021

import com.team4099.lib.logging.Logger
import com.team4099.lib.smoothDeadband
import com.team4099.robot2021.auto.modes2021.EnemyTrenchMode
import com.team4099.robot2021.auto.modes2021.ThreeBallMode
import com.team4099.robot2021.commands.climber.LockClimberCommand
import com.team4099.robot2021.commands.climber.OpenLoopClimbCommand
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1 change: 0 additions & 1 deletion src/main/kotlin/com/team4099/robot2021/auto/modes2021/ThreeBallMode.kt
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Expand Up @@ -3,7 +3,6 @@ package com.team4099.robot2021.auto.modes2021
import com.team4099.robot2021.auto.PathStore
import com.team4099.robot2021.commands.drivetrain.AutoDriveCommand
import com.team4099.robot2021.commands.shooter.ShootAllCommand
import com.team4099.robot2021.commands.shooter.VisionCommand
import com.team4099.robot2021.subsystems.Drivetrain
import com.team4099.robot2021.subsystems.Shooter
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup
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17 changes: 17 additions & 0 deletions src/main/kotlin/com/team4099/robot2021/commands/led/LEDCommand.kt
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@@ -0,0 +1,17 @@
package com.team4099.robot2021.commands.led

import com.team4099.lib.logging.Logger
import com.team4099.robot2021.config.Constants
import com.team4099.robot2021.subsystems.LED
import edu.wpi.first.wpilibj2.command.CommandBase

class LEDCommand(var LEDstate: Constants.LED.Status) : CommandBase() {
init {
addRequirements(LED)
}

override fun initialize() {
LED.statusState = LEDstate
Logger.addEvent("LED", "LED State: $LEDstate")
}
}
2 changes: 2 additions & 0 deletions src/main/kotlin/com/team4099/robot2021/commands/shooter/SpinUpCommand.kt
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
package com.team4099.robot2021.commands.shooter

import com.team4099.lib.logging.Logger
import com.team4099.robot2021.commands.led.LEDCommand
import com.team4099.robot2021.config.Constants
import com.team4099.robot2021.subsystems.Shooter
import com.team4099.robot2021.subsystems.Vision
Expand All @@ -19,6 +20,7 @@ class SpinUpCommand(
Logger.addEvent("SpinUpCommand", "Started shooter spin-up command")
}
override fun execute() {
LEDCommand(Constants.LED.Status.SHOOTER_SPEED)
if (withVision) {
Shooter.targetVelocity =
when (Vision.currentDistance) {
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2 changes: 2 additions & 0 deletions src/main/kotlin/com/team4099/robot2021/commands/shooter/VisionCommand.kt
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Expand Up @@ -6,6 +6,7 @@ import com.team4099.lib.units.base.meters
import com.team4099.lib.units.derived.degrees
import com.team4099.lib.units.derived.inDegrees
import com.team4099.lib.units.perSecond
import com.team4099.robot2021.commands.led.LEDCommand
import com.team4099.robot2021.config.Constants
import com.team4099.robot2021.subsystems.Drivetrain
import com.team4099.robot2021.subsystems.Vision
Expand Down Expand Up @@ -68,6 +69,7 @@ class VisionCommand : CommandBase() {
}

override fun end(interrupted: Boolean) {
LEDCommand(Constants.LED.Status.VISION_LOCK)
Drivetrain.setOpenLoop(0.degrees.perSecond, Pair(0.0.meters.perSecond, 0.0.meters.perSecond))
}
}
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