From 0641b0c3ca06b005208314434c03556f48cea542 Mon Sep 17 00:00:00 2001 From: Ghost <145223182+GhostR406@users.noreply.github.com> Date: Sat, 17 Jan 2026 15:43:51 -0500 Subject: [PATCH 1/3] Unfinished LEDs runAnimation - got to creating the animations. --- src/main/java/frc/robot/Constants.java | 12 ++++++++++++ src/main/java/frc/robot/subsystems/LEDs/LEDs.java | 9 +++++++++ 2 files changed, 21 insertions(+) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 56a69fb..0c7298d 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -60,6 +60,18 @@ public static enum Mode { REPLAY } + public class LEDConstants { + /*public enum LEDAnimations { + Fire, + ColorFlow, + Twinkle + }*/ + + FireAnimation animFire = new FireAnimation(); + + + } + public class FieldConstants { /** *     Contains various field dimensions and useful reference points. All units are in meters diff --git a/src/main/java/frc/robot/subsystems/LEDs/LEDs.java b/src/main/java/frc/robot/subsystems/LEDs/LEDs.java index 5ae06d5..23d6644 100644 --- a/src/main/java/frc/robot/subsystems/LEDs/LEDs.java +++ b/src/main/java/frc/robot/subsystems/LEDs/LEDs.java @@ -2,6 +2,8 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.lib.W8.io.lights.LightsIO; +import edu.wpi.first.wpilibj2.command.Command; +import com.ctre.phoenix.led.Animation; public class LEDs extends SubsystemBase { private final LightsIO _io; @@ -10,6 +12,13 @@ public LEDs(LightsIO io) { _io = io; } + // Lights is PROBABLY going to be a candle I THINK ?? (in the future) + public Command runAnimation(Animation animation1, Animation animation2) { + return this.startEnd( + () -> lights.; + ) + } + @Override public void periodic() {} } \ No newline at end of file From bafb8ce0cc448eb6c39f2e9bac1c0d4680a93f15 Mon Sep 17 00:00:00 2001 From: Ghost <145223182+GhostR406@users.noreply.github.com> Date: Wed, 21 Jan 2026 18:52:30 -0500 Subject: [PATCH 2/3] LEDs Run Animation ( 1 / 21 / 26 ) --- src/main/java/frc/robot/Constants.java | 14 +++++--------- src/main/java/frc/robot/subsystems/LEDs/LEDs.java | 11 +++++++---- 2 files changed, 12 insertions(+), 13 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 0c7298d..da44a54 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -32,6 +32,8 @@ import edu.wpi.first.units.measure.Velocity; import edu.wpi.first.wpilibj.RobotBase; import frc.lib.W8.mechanisms.rotary.RotaryMechanism.RotaryMechCharacteristics; +import com.ctre.phoenix6.signals.RGBWColor; +import com.ctre.phoenix6.controls.*; import frc.lib.W8.util.Device; import frc.lib.W8.util.Device.CAN; @@ -61,15 +63,9 @@ public static enum Mode { } public class LEDConstants { - /*public enum LEDAnimations { - Fire, - ColorFlow, - Twinkle - }*/ - - FireAnimation animFire = new FireAnimation(); - - + public static final RainbowAnimation rainbowAnim = new RainbowAnimation(0, 2); + public static final RGBWColor colorPaleBlue = new RGBWColor(165, 180, 208, 0); + public static final RBGWColor colorWheezerBlue = new RGBWColor(24, 155, 204, 0); } public class FieldConstants { diff --git a/src/main/java/frc/robot/subsystems/LEDs/LEDs.java b/src/main/java/frc/robot/subsystems/LEDs/LEDs.java index 23d6644..41d3be9 100644 --- a/src/main/java/frc/robot/subsystems/LEDs/LEDs.java +++ b/src/main/java/frc/robot/subsystems/LEDs/LEDs.java @@ -3,19 +3,22 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.lib.W8.io.lights.LightsIO; import edu.wpi.first.wpilibj2.command.Command; -import com.ctre.phoenix.led.Animation; +import com.ctre.phoenix6.hardware.CANdle; +import frc.robot.LEDConstants; public class LEDs extends SubsystemBase { private final LightsIO _io; + private final CANdle _candle; public LEDs(LightsIO io) { _io = io; + _candle = new CANdle(1, "rio"); } - // Lights is PROBABLY going to be a candle I THINK ?? (in the future) - public Command runAnimation(Animation animation1, Animation animation2) { + public Command runAnimation() { return this.startEnd( - () -> lights.; + () -> _candle.setControl(LEDConstants.rainbowAnim.withSlot(0).withColor(LEDConstants.colorPaleBlue)), + () -> _candle.setControl(new SolidColor(0, 3).withColor(colorWheezerBlue)) ) } From 0a4232363ad1feee61951bc1ac27e37cfb51a022 Mon Sep 17 00:00:00 2001 From: Ghost <145223182+GhostR406@users.noreply.github.com> Date: Thu, 29 Jan 2026 19:40:55 -0500 Subject: [PATCH 3/3] 1/29/26 Fixed runAnimation type errors! --- src/main/java/frc/robot/Constants.java | 2 +- .../java/frc/robot/subsystems/LEDs/LEDs.java | 20 +++++++++++-------- 2 files changed, 13 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index ce4c486..286b5c3 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -66,7 +66,7 @@ public static enum Mode { public class LEDConstants { public static final RainbowAnimation rainbowAnim = new RainbowAnimation(0, 2); public static final RGBWColor colorPaleBlue = new RGBWColor(165, 180, 208, 0); - public static final RBGWColor colorWheezerBlue = new RGBWColor(24, 155, 204, 0); + public static final RGBWColor colorWheezerBlue = new RGBWColor(24, 155, 204, 0); } public class FieldConstants { diff --git a/src/main/java/frc/robot/subsystems/LEDs/LEDs.java b/src/main/java/frc/robot/subsystems/LEDs/LEDs.java index 6bda3b4..62fe690 100644 --- a/src/main/java/frc/robot/subsystems/LEDs/LEDs.java +++ b/src/main/java/frc/robot/subsystems/LEDs/LEDs.java @@ -1,27 +1,31 @@ package frc.robot.subsystems.LEDs; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.lib.W8.devices.Lights; import frc.lib.W8.io.lights.LightsIO; import edu.wpi.first.wpilibj2.command.Command; + +import com.ctre.phoenix6.controls.ControlRequest; +import com.ctre.phoenix6.controls.SolidColor; import com.ctre.phoenix6.hardware.CANdle; -import frc.robot.LEDConstants; +import frc.robot.Constants.LEDConstants; public class LEDs extends SubsystemBase { private final LightsIO _io; - private final CANdle _candle; + private final Lights _lights; - public LEDs(LightsIO io) { + public LEDs(LightsIO io, Lights lights) { _io = io; - _candle = new CANdle(1, "rio"); + _lights = lights; } public Command runAnimation() { return this.startEnd( - () -> _candle.setControl(LEDConstants.rainbowAnim.withSlot(0).withColor(LEDConstants.colorPaleBlue)), - () -> _candle.setControl(new SolidColor(0, 3).withColor(colorWheezerBlue)) - ) + () -> _lights.setAnimation(new SolidColor(0, 3).withColor(LEDConstants.colorPaleBlue)), + () -> _lights.setAnimation(new SolidColor(0, 3).withColor(LEDConstants.colorWheezerBlue)) + ); } @Override public void periodic() {} -} +} \ No newline at end of file