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R2 73 implement run animation #23

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R2 73 implement run animation #23

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0641b0c
Unfinished LEDs runAnimation - got to creating the animations.
GhostR406 Jan 17, 2026
bafb8ce
LEDs Run Animation ( 1 / 21 / 26 )
GhostR406 Jan 21, 2026
cfa4151
Merge branch 'main' into R2-73-implement-run-animation
rhit-halseysh Jan 22, 2026
0a42323
1/29/26 Fixed runAnimation type errors!
GhostR406 Jan 30, 2026
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8 changes: 8 additions & 0 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,8 @@
import edu.wpi.first.wpilibj.RobotBase;
import frc.lib.W8.mechanisms.linear.LinearMechanism.LinearMechCharacteristics;
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;
import frc.lib.W8.util.MechanismUtil.DistanceAngleConverter;
Expand Down Expand Up @@ -61,6 +63,12 @@ public static enum Mode {
REPLAY
}

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 RGBWColor colorWheezerBlue = new RGBWColor(24, 155, 204, 0);
}

public class FieldConstants {
/**
*     Contains various field dimensions and useful reference points. All units are in meters
Expand Down
26 changes: 21 additions & 5 deletions src/main/java/frc/robot/subsystems/LEDs/LEDs.java
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@@ -1,15 +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.Constants.LEDConstants;

public class LEDs extends SubsystemBase {
private final LightsIO _io;
private final LightsIO _io;
private final Lights _lights;

public LEDs(LightsIO io, Lights lights) {
_io = io;
_lights = lights;
}

public LEDs(LightsIO io) {
_io = io;
}
public Command runAnimation() {
return this.startEnd(
() -> _lights.setAnimation(new SolidColor(0, 3).withColor(LEDConstants.colorPaleBlue)),
() -> _lights.setAnimation(new SolidColor(0, 3).withColor(LEDConstants.colorWheezerBlue))
);
}

@Override
public void periodic() {}
}
}