leds

src/main/java/frc/robot/RobotContainer.java

@@ -9,18 +9,20 @@ import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.GrimperHaut;
 import frc.robot.commands.GrimpeurBas;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Grimpeur;
 
 public class RobotContainer {
   CommandXboxController manette1 = new CommandXboxController(0);
   CommandXboxController manette2 = new CommandXboxController(1);
   Grimpeur grimpeur = new Grimpeur();
+  Bougie bougie = new Bougie();
   public RobotContainer() {
     configureBindings();
   }
 
   private void configureBindings() {
-    manette1.leftBumper().whileTrue(new GrimperHaut(grimpeur));
+    manette1.leftBumper().whileTrue(new GrimperHaut(grimpeur,bougie));
     manette1.rightBumper().whileTrue(new GrimpeurBas(grimpeur));
   }
 

src/main/java/frc/robot/commands/GrimperHaut.java

@@ -5,15 +5,18 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Grimpeur;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class GrimperHaut extends Command {
   private Grimpeur grimpeur;
+  private Bougie bougie;
   /** Creates a new Grimper. */
-  public GrimperHaut(Grimpeur grimpeur) {
+  public GrimperHaut(Grimpeur grimpeur, Bougie bougie) {
     this.grimpeur = grimpeur;
-    addRequirements(grimpeur);
+    this.bougie = bougie;
+    addRequirements(grimpeur,bougie);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -27,9 +30,11 @@ public class GrimperHaut extends Command {
     if(grimpeur.stop()==true){
       grimpeur.grimpe(0);
       grimpeur.reset();
+      bougie.RainBow();
     }
     else{
       grimpeur.grimpe(0.5);
+      bougie.RainBowStop();
     }
   }
 
@@ -37,6 +42,10 @@ public class GrimperHaut extends Command {
   @Override
   public void end(boolean interrupted) {
     grimpeur.grimpe(0);
+   if(grimpeur.stop()){
+    bougie.RainBow();
+   }
+
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/RainBow.java

@@ -0,0 +1,41 @@
+// 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.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class RainBow extends Command {
+  /** Creates a new RainBow. */
+  private Bougie bougie;
+  public RainBow(Bougie bougie) {
+    this.bougie = bougie;
+    addRequirements(bougie);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    bougie.RainBow();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    bougie.RainBowStop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,38 @@
+// 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 com.ctre.phoenix.led.CANdle;
+import com.ctre.phoenix.led.CANdleConfiguration;
+import com.ctre.phoenix.led.RainbowAnimation;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Bougie extends SubsystemBase {
+  CANdle candle = new CANdle(5);
+  CANdleConfiguration config = new CANdleConfiguration();
+  RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.5, 64);
+  /** Creates a new Bougie. */
+  public Bougie() {
+    config.brightnessScalar = 0.5;
+    candle.configAllSettings(config);
+  }
+  public void Rouge() {
+   candle.setLEDs(255, 0, 0);
+  }
+  public void Vert() {
+   candle.setLEDs(0, 255, 0);
+  }
+  public void Bleu() {
+   candle.setLEDs(0, 0, 255);
+  }
+  public void RainBow(){candle.animate(rainbowAnim);}
+  public void RainBowStop(){candle.animate(null);}
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}
+