142 lines
4.1 KiB
Java
142 lines
4.1 KiB
Java
/* Generated by Phoenix Tuner X */
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package frc.robot.subsystems;
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import edu.wpi.first.networktables.GenericEntry;
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import edu.wpi.first.wpilibj.DriverStation;
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import edu.wpi.first.wpilibj.Timer;
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import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import com.ctre.phoenix6.CANBus;
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import com.ctre.phoenix6.controls.SolidColor;
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import com.ctre.phoenix6.hardware.CANdle;
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import com.ctre.phoenix6.signals.RGBWColor;
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/**
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* Subsystem that controls an addressable LED strip using a CANdle.
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*/
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public class LEDSubsystem extends SubsystemBase {
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Timer _timer;
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ShuffleboardTab teb = Shuffleboard.getTab("teb");
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private GenericEntry equipe =
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teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
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private final CANBus kCANBus = new CANBus("rio");
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private final CANdle m_candle = new CANdle(17, kCANBus);
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public void Bleu(){
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m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(255, 0, 0, 0)));
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}
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public void Rouge(){
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m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 255, 0)));
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}
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public void Vert(){
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m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 255, 0, 0)));
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}
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public void Noir(){
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m_candle.setControl(new SolidColor(0, 80).withColor(new RGBWColor(0, 0, 0, 0)));
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}
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public void Flash(boolean couleur){
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if(_timer.get() <0.5){
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if(couleur){
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Bleu();
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}
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else{
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Rouge();
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}
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}
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else{
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Noir();
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_timer.reset();
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}
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}
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public LEDSubsystem() {
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setDefaultCommand(updateLEDs());
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_timer = new Timer();
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_timer.reset();
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_timer.start();
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}
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public boolean Equipe(){
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return equipe.getBoolean(false);
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}
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/**
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* Updates the animations and LEDs of the CANdle.
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*
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* @return Command to run
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*/
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public Command updateLEDs() {
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double temps = DriverStation.getMatchTime();
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return run(() -> {
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if(Equipe()){
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if(temps > 110){
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Vert();
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}
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else if(temps > 88){
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Bleu();
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}
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else if(temps > 85){
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Flash(true);
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}
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else if(temps > 63){
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Rouge();
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}
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else if(temps > 60){
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Flash(false);
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}
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else if(temps > 33){
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Bleu();
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}
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else if(temps > 30){
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Flash(true);
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}
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else if(temps > 13){
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Rouge();
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}
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else if(temps > 10){
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Flash(false);
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}
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else if(temps < 10){
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Vert();
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}
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}
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else{
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if(temps > 110){
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Vert();
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}
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else if(temps > 88){
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Rouge();
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}
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else if(temps > 85){
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Flash(false);
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}
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else if(temps > 63){
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Bleu();
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}
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else if(temps > 60){
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Flash(true);
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}
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else if(temps > 33){
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Rouge();
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}
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else if(temps > 30){
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Flash(false);
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}
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else if(temps > 13){
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Bleu();
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}
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else if(temps > 10){
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Flash(true);
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}
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else if(temps < 10){
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Vert();
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}
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}
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});
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}
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}
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