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Added functionality for CAN-Based RGB lights #14

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Added functionality for CAN-Based RGB lights #14

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75166bd
Uodated classpath for CANLights SDK
Feb 3, 2018
8e05b41
Added subsystem and basics methods for using rgb lights
Feb 3, 2018
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19 changes: 11 additions & 8 deletions PowerUp2018/.classpath
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Original file line number Diff line number Diff line change
@@ -1,10 +1,13 @@
<?xml version="1.0" encoding="UTF-8"?>
<classpath>
<classpathentry kind="src" path="src"/>
<classpathentry kind="var" path="wpilib" sourcepath="wpilib.sources"/>
<classpathentry kind="var" path="networktables" sourcepath="ntcore.sources"/>
<classpathentry kind="var" path="opencv" sourcepath="opencv.sources"/>
<classpathentry kind="var" path="cscore" sourcepath="cscore.sources"/>
<classpathentry kind="var" path="wpiutil" sourcepath="wpiutil.sources"/>
<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.8"/>
<classpathentry kind="output" path="bin"/>
<classpathentry kind="src" path="src"/>
<classpathentry kind="var" path="wpilib" sourcepath="wpilib.sources"/>
<classpathentry kind="var" path="networktables" sourcepath="ntcore.sources"/>
<classpathentry kind="var" path="opencv" sourcepath="opencv.sources"/>
<classpathentry kind="var" path="cscore" sourcepath="cscore.sources"/>
<classpathentry kind="var" path="wpiutil" sourcepath="wpiutil.sources"/>
<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.8"/>
<classpathentry kind="var" path="USERLIBS_DIR/mindsensors-javadoc.jar"/>
<classpathentry kind="var" path="USERLIBS_DIR/mindsensors.jar"/>
<classpathentry kind="output" path="bin"/>
</classpath>
53 changes: 53 additions & 0 deletions PowerUp2018/src/org/usfirst/frc/team6351/robot/subsystems/RGBLights.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,53 @@
package org.usfirst.frc.team6351.robot.subsystems;

import com.mindsensors.CANLight;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.command.Subsystem;

/**
*
*/
public class RGBLights extends Subsystem {

// Put methods for controlling this subsystem
// here. Call these from Commands.

//Verify CAN ID Number
CANLight lights = new CANLight(3);

public void initDefaultCommand() {
// Set the default command for a subsystem here.
//setDefaultCommand(new MySpecialCommand());
}

public void blinkPCB_LED() {
//Meant for debugging purposes
lights.blinkLED(10);
}
public void setToColor(int red, int green, int blue) {
lights.showRGB(red, green, blue);
}
public void setRainbowFade() {
lights.reset();
lights.fade(0,7);
}
public void setToAllianceColor() {
DriverStation ds = DriverStation.getInstance();
if (ds.getAlliance() == DriverStation.Alliance.Red) {
lights.showRGB(255, 51, 0);
} else if (ds.getAlliance() == DriverStation.Alliance.Blue) {
lights.showRGB(0, 102, 255);
} else if (ds.getAlliance() == DriverStation.Alliance.Invalid) {
lights.showRGB(255, 200, 0); // yellow
}
}
public void setToEndMatchFlash() {
//Flash between red and blue near end of match
lights.writeRegister(0, 0.25, 0, 102, 255);
lights.writeRegister(1, 0.25, 255, 51, 0);
lights.cycle(0, 1);
}

}