Added LED

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

@@ -12,4 +12,9 @@ package frc.robot;
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * 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_GAUCHE = 1;
+
+    public static final int LED_PORT = 0;
+}

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

@@ -11,10 +11,12 @@ import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
+import static frc.robot.Constants.*;
+
 public class DriveTrain extends SubsystemBase {
 
-  private final WPI_TalonSRX roueGauche = new WPI_TalonSRX(1);
-  private final WPI_TalonSRX roueDroite = new WPI_TalonSRX(2);
+  private final WPI_TalonSRX roueGauche = new WPI_TalonSRX(MOTEUR_GAUCHE);
+  private final WPI_TalonSRX roueDroite = new WPI_TalonSRX(MOTEUR_DROIT);
 
   private final DifferentialDrive drive = new DifferentialDrive(roueGauche, roueDroite);
 

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

@@ -0,0 +1,90 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import java.util.Map;
+
+import edu.wpi.first.wpilibj.AddressableLED;
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import static frc.robot.Constants.*;
+
+public class Led extends SubsystemBase {
+
+  private final ShuffleboardTab tab = Shuffleboard.getTab("Peanut");
+  private final ShuffleboardLayout layout = tab.getLayout("LED", BuiltInLayouts.kList)
+    .withSize(2, 2)
+    .withProperties(Map.of("Label position", "HIDDEN"));
+  
+  private final AddressableLED led = new AddressableLED(LED_PORT);
+  private final AddressableLEDBuffer buffer = new AddressableLEDBuffer(150);
+
+  private int rainbowFirstPixelHue = 0;
+  private int cycleHue = 0;
+  private int chaseFirstPixel = 0;
+
+  /** Creates a new Led. */
+  public Led() {
+    led.setLength(buffer.getLength());
+    led.setData(buffer);
+    led.start();
+
+    layout.add(new RunCommand(() -> rainbow(), this));
+    layout.add(new RunCommand(() -> colorCycle(), this));
+    layout.add(new RunCommand(() -> chase(), this));
+  }
+
+  public void rainbow() {
+    for (int i = 0; i < buffer.getLength(); i++) {
+      final int hue = (rainbowFirstPixelHue + (i * 180 / buffer.getLength())) % 180;
+      buffer.setHSV(i, hue, 255, 128);
+    }
+    rainbowFirstPixelHue += 3;
+    rainbowFirstPixelHue %= 181;
+  }
+
+  public void colorCycle() {
+    for (int i = 0; i < buffer.getLength(); i++) {
+      buffer.setHSV(i, cycleHue, 255, 128);
+    }
+    cycleHue += 2;
+    cycleHue %= 181;
+  }
+
+  public void chase() {
+    int lastPixel = (chaseFirstPixel + buffer.getLength()/15) % buffer.getLength();
+    if (lastPixel < chaseFirstPixel) {
+      for (int i = 0; i < buffer.getLength(); i++) {
+        if (i < lastPixel || i >= chaseFirstPixel) {
+          buffer.setHSV(i, 180, 255, 255);
+        } else {
+          buffer.setHSV(i, 180, 0, 0);
+        }
+      }
+    } else {
+      for (int i = 0; i < buffer.getLength(); i++) {
+        if (i >= chaseFirstPixel && i < lastPixel) {
+          buffer.setHSV(i, 180, 255, 255);
+        } else {
+          buffer.setHSV(i, 180, 0, 0);
+        }
+      }
+    }
+    chaseFirstPixel += 2;
+    chaseFirstPixel %= 181;
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+    led.setData(buffer);
+  }
+}