led

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

@@ -1,8 +1,12 @@
 /* Generated by Phoenix Tuner X */
 package frc.robot.subsystems;
 
-import static edu.wpi.first.units.Units.*;
-
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -15,6 +19,9 @@ import com.ctre.phoenix6.signals.RGBWColor;
  * Subsystem that controls an addressable LED strip using a CANdle.
  */
 public class LEDSubsystem extends SubsystemBase {
+    ShuffleboardTab teb = Shuffleboard.getTab("teb");
+     private GenericEntry equipe = 
+    teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();  
     private final CANBus kCANBus = new CANBus("rio");
     private final CANdle m_candle = new CANdle(17, kCANBus);
     public void Bleu(){
@@ -23,17 +30,108 @@ public class LEDSubsystem extends SubsystemBase {
     public void Rouge(){
         new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 255, 0));
     }
+    public void Vert(){
+        new SolidColor(0, 80).withColor(new RGBWColor(0, 255, 0, 0));
+    }
+    public void Noir(){
+
+        new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 0, 0));
+    }
+    public void Flach(boolean couleur){
+        Timer timer = new Timer();
+        timer.start();
+        if(timer.get() <0.5){
+            if(couleur){
+                Bleu();
+            }
+            else{
+                Rouge();
+            }
+        }
+        else{
+            Noir();
+            timer.reset();
+        }
+    }
     public LEDSubsystem() {
         setDefaultCommand(updateLEDs());
     }
-
+    public boolean Equipe(){
+        return equipe.getBoolean(false);
+    }
     /**
      * Updates the animations and LEDs of the CANdle.
      *
      * @return Command to run
      */
     public Command updateLEDs() {
-        return run(() -> {});
+        double temps = DriverStation.getMatchTime();
+        return run(() -> {
+            if(Equipe()){
+                if(temps < 30){
+                    Vert();
+                }
+                else if(temps < 52){
+                    Bleu();
+                }
+                else if(temps < 55){
+                    Flach(true);
+                }
+                else if(temps < 77){
+                    Rouge();
+                }
+                else if(temps < 80){
+                    Flach(false);
+                }
+                else if(temps < 102){
+                    Bleu();
+                }
+                else if(temps < 105){
+                    Flach(true);
+                }
+                else if(temps <127){
+                    Rouge();
+                }
+                else if(temps < 130){
+                    Flach(false);
+                }
+                else if(temps < 140){
+                    Vert();
+                }
+            }
+            else{
+                if(temps < 30){
+                    Vert();
+                }
+                else if(temps < 52){
+                    Rouge();
+                }
+                else if(temps < 55){
+                    Flach(false);
+                }
+                else if(temps < 77){
+                    Bleu();
+                }
+                else if(temps < 80){
+                    Flach(true);
+                }
+                else if(temps < 102){
+                    Rouge();
+                }
+                else if(temps < 105){
+                    Flach(false);
+                }
+                else if(temps <127){
+                    Bleu();
+                }
+                else if(temps < 130){
+                    Flach(true);
+                }
+                else if(temps < 140){
+                    Vert();
+                }
+            }
+        });
     }
 }