led

src/main/java/frc/robot/commands/RainBowAnim.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.Led;
+
+/* 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 RainBowAnim extends Command {
+  private Led led;
+  /** Creates a new RainBowAnim. */
+  public RainBowAnim(Led led) {
+    this.led = led;
+    addRequirements(led);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    led.RainBow();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    led.RainBowStop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

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+// 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.Optional;
+
+import com.ctre.phoenix.led.CANdle;
+import com.ctre.phoenix.led.RainbowAnimation;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Led extends SubsystemBase {
+  CANdle CANDle = new CANdle(7);
+  RainbowAnimation rainbowAnim = new RainbowAnimation();
+    public void bleu(){
+    CANDle.setLEDs(0, 0, 255);
+  }
+  public void Vert(){
+    CANDle.setLEDs(0,255, 0);
+  }
+  public void Rouge(){
+    CANDle.setLEDs(255,0, 0);
+  }
+  public void RainBow(){
+    CANDle.animate(rainbowAnim);
+  }
+  public void RainBowStop(){
+    CANDle.animate(null);
+  }
+  public boolean Equipe(){
+    Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
+    if(alliance.get() == DriverStation.Alliance.Blue){
+      return true;
+    }
+    else{
+      return false;
+    }
+  }
+  /** Creates a new Led. */
+  public Led() {}
+
+  @Override
+  public void periodic() {
+    double temps = DriverStation.getMatchTime();
+    if(temps > 20 && temps < 30){
+      Vert();
+    }
+    if(Equipe()){
+      if(temps > 30 && temps < 55){
+        bleu();
+      }
+      else if(temps > 30 && temps < 80){
+        Rouge();
+      }
+      else if(temps > 80 && temps < 105){
+        bleu();
+      }
+      else if(temps > 105 && temps < 130){
+        Rouge();
+      }
+      else{
+        RainBow();
+      }
+    }
+    else{
+      if(temps > 30 && temps < 55){
+        Rouge();
+      }
+      else if(temps > 30 && temps < 80){
+        bleu();
+      }
+      else if(temps > 80 && temps < 105){
+        Rouge();
+      }
+      else if(temps > 105 && temps < 130){
+        bleu();
+      }
+      else{
+        RainBow();
+      }
+    }
+    // This method will be called once per scheduler run
+  }
+}