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Fixed LED modes and drive CAN id

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This commit is contained in:
Olivier Demers 2022-05-02 19:17:03 -04:00
parent 4fede0ef59
commit 13d60c54f3
3 changed files with 14 additions and 10 deletions
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4
src/main/java/frc/robot/Constants.java
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@ -13,8 +13,8 @@ package frc.robot;
* constants are needed, to reduce verbosity. * constants are needed, to reduce verbosity.
*/ */
public final class Constants { public final class Constants {
public static final int MOTEUR_DROIT = 2; public static final int MOTEUR_DROIT = 1;
public static final int MOTEUR_GAUCHE = 1; public static final int MOTEUR_GAUCHE = 2;
public static final int LED_PORT = 0; public static final int LED_PORT = 0;
} }

4
src/main/java/frc/robot/RobotContainer.java
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@ -7,8 +7,10 @@ package frc.robot;
import edu.wpi.first.wpilibj.GenericHID; import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.RunCommand;
import frc.robot.commands.Drive; import frc.robot.commands.Drive;
import frc.robot.subsystems.DriveTrain; import frc.robot.subsystems.DriveTrain;
import frc.robot.subsystems.Led;
/** /**
* This class is where the bulk of the robot should be declared. Since Command-based is a * This class is where the bulk of the robot should be declared. Since Command-based is a
@ -22,6 +24,7 @@ public class RobotContainer {
// The robot's subsystems and commands are defined here... // The robot's subsystems and commands are defined here...
private final DriveTrain driveTrain = new DriveTrain(); private final DriveTrain driveTrain = new DriveTrain();
private final Led led = new Led();
private final Drive drive = new Drive(driveTrain, () -> -controller.getLeftY(), () -> controller.getLeftX()); private final Drive drive = new Drive(driveTrain, () -> -controller.getLeftY(), () -> controller.getLeftX());
@ -31,6 +34,7 @@ public class RobotContainer {
configureButtonBindings(); configureButtonBindings();
driveTrain.setDefaultCommand(drive); driveTrain.setDefaultCommand(drive);
led.setDefaultCommand(new RunCommand(() -> led.rainbow(), led));
} }

16
src/main/java/frc/robot/subsystems/Led.java
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@ -37,9 +37,9 @@ public class Led extends SubsystemBase {
led.setData(buffer); led.setData(buffer);
led.start(); led.start();
layout.add(new RunCommand(() -> rainbow(), this)); layout.add(new RunCommand(() -> rainbow(), this).withName("Rainbow"));
layout.add(new RunCommand(() -> colorCycle(), this)); layout.add(new RunCommand(() -> colorCycle(), this).withName("Color Cycle"));
layout.add(new RunCommand(() -> chase(), this)); layout.add(new RunCommand(() -> chase(), this).withName("Chase"));
} }
public void rainbow() { public void rainbow() {
@ -48,15 +48,15 @@ public class Led extends SubsystemBase {
buffer.setHSV(i, hue, 255, 128); buffer.setHSV(i, hue, 255, 128);
} }
rainbowFirstPixelHue += 3; rainbowFirstPixelHue += 3;
rainbowFirstPixelHue %= 181; rainbowFirstPixelHue %= 180;
} }
public void colorCycle() { public void colorCycle() {
for (int i = 0; i < buffer.getLength(); i++) { for (int i = 0; i < buffer.getLength(); i++) {
buffer.setHSV(i, cycleHue, 255, 128); buffer.setHSV(i, cycleHue, 255, 128);
} }
cycleHue += 2; cycleHue += 1;
cycleHue %= 181; cycleHue %= 180;
} }
public void chase() { public void chase() {
@ -78,8 +78,8 @@ public class Led extends SubsystemBase {
} }
} }
} }
chaseFirstPixel += 2; chaseFirstPixel += 1;
chaseFirstPixel %= 181; chaseFirstPixel %= buffer.getLength();
} }
@Override @Override