create LED template

src/main/java/frc/robot/Constants.java

@@ -16,4 +16,12 @@ public final class Constants {
   public static class OperatorConstants {
     public static final int kDriverControllerPort = 0;
   }
+
+  //placeholder constants
+  public static class LEDConstants {
+    public static final int KPORT = 0;
+    public static final int KLENGTH = 60;
+
+    public static final double BLINK_TIME = 1; // in seconds for after intake/outtake
+  }
 }

src/main/java/frc/robot/subsystems/LedSubsystem.java

@@ -0,0 +1,119 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.units.Units;
+
+import static edu.wpi.first.units.Units.Centimeters;
+import static edu.wpi.first.units.Units.Meters;
+import static edu.wpi.first.units.Units.Percent;
+import static edu.wpi.first.units.Units.Second;
+
+import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.measure.Time;
+import edu.wpi.first.wpilibj.AddressableLED;
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.LEDPattern;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.LEDConstants;
+
+public class LedSubsystem extends SubsystemBase {
+  private final AddressableLED m_led;
+  private final AddressableLEDBuffer m_ledBuffer;
+
+  /** Called once at the beginning of the robot program. */
+  public LedSubsystem() {
+    // PWM port 9
+    // Must be a PWM header, not MXP or DIO
+    m_led = new AddressableLED(LEDConstants.KPORT);
+
+    // Reuse buffer
+    // Default to a length of 60, start empty output
+    // Length is expensive to set, so only set it once, then just update data
+    m_ledBuffer = new AddressableLEDBuffer(LEDConstants.KLENGTH);
+    m_led.setLength(m_ledBuffer.getLength());
+
+    // Set the data
+    m_led.setData(m_ledBuffer);
+
+    m_led.start();
+
+    // Set the default command to turn the strip off, otherwise the last colors written by
+    // the last command to run will continue to be displayed.
+    // Note: Other default patterns could be used instead!
+    setDefaultCommand((runScrollingRedBlueCommand()).withName("Off"));
+  }
+
+
+  @Override
+  public void periodic() {
+    // Periodically send the latest LED color data to the LED strip for it to display
+
+
+    m_led.setData(m_ledBuffer);
+  }
+
+  /**
+   * Creates a command that runs a pattern on the entire LED strip.
+   *
+   * @param pattern the LED pattern to run
+   */
+  public Command runPattern(LEDPattern pattern) {
+    return run(() -> pattern.applyTo(m_ledBuffer)).ignoringDisable(true);
+  }
+
+  public Command runBlinkGreen() {
+    return runPattern(LEDPattern.solid(Color.kGreen).blink(Time.ofBaseUnits(0.25, Units.Seconds)));
+  }
+
+  public Command runSolidYellow() {
+    return runPattern(LEDPattern.solid(Color.kYellow));
+  }
+
+  public Command runSolidBlue() {
+    return runPattern(LEDPattern.solid(Color.kDarkBlue));
+  }
+
+  public Command runSolidOrange() {
+    return runPattern(LEDPattern.solid(Color.kOrange));
+  }
+
+  public Command runSolidGreen() {
+    return runPattern(LEDPattern.solid(Color.kGreen));
+  }
+
+  public Command runSolidRed() {
+    return runPattern(LEDPattern.solid(Color.kRed));
+  }
+
+  public Command runSolidWhite() {
+    return runPattern(LEDPattern.solid(Color.kWhite));
+  }
+
+  public Command runSolidPink() {
+    return runPattern(LEDPattern.solid(Color.kPink));
+  }
+
+  public Command runSolidPurple() {
+    return runPattern(LEDPattern.solid(Color.kPurple));
+  }
+
+  public Command runGradientBlueYellow(){
+    LEDPattern gradient = LEDPattern.gradient(LEDPattern.GradientType.kDiscontinuous, Color.kYellow, Color.kBlue);
+    return runPattern(gradient);
+  }
+
+  public Command runGradientGreenYellow(){
+    LEDPattern gradient = LEDPattern.gradient(LEDPattern.GradientType.kDiscontinuous, Color.kYellow, Color.kGreen).scrollAtRelativeSpeed(Percent.per(Second).of(100));
+    return runPattern(gradient);
+  }
+
+  public Command runScrollingRedBlueCommand(){
+    Distance ledSpacing = Meters.of(1 / 60.0);
+    LEDPattern base = LEDPattern.gradient(LEDPattern.GradientType.kDiscontinuous, Color.kRed, Color.kBlue);
+    LEDPattern pattern = base.scrollAtRelativeSpeed(Percent.per(Second).of(100));
+    LEDPattern absolute = base.scrollAtAbsoluteSpeed(Centimeters.per(Second).of(6.25), ledSpacing);
+    return runPattern(pattern);
+  }
+
+}