add lleds

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.2.1"
+    id "edu.wpi.first.GradleRIO" version "2023.4.3"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

src/main/java/frc/team3128/Robot.java

@@ -6,6 +6,7 @@
 
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
@@ -25,15 +26,15 @@ public void robotInit(){
 
     @Override
     public void robotPeriodic(){
-        // m_robotContainer.updateDashboard();
+        //m_robotContainer.updateDashboard();
     }
 
     @Override
     public void autonomousInit() {
-        m_autonomousCommand = m_robotContainer.getAutonomousCommand();
-        if (m_autonomousCommand != null) {
-            m_autonomousCommand.schedule();
-        }
+        //m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+        //if (m_autonomousCommand != null) {
+            //m_autonomousCommand.schedule();
+        //}
     }
 
     @Override

src/main/java/frc/team3128/RobotContainer.java

@@ -4,11 +4,13 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 //import frc.team3128.commands.TestDrive;
 import frc.team3128.common.hardware.input.NAR_Joystick;
 import frc.team3128.common.narwhaldashboard.NarwhalDashboard;
 import frc.team3128.subsystems.TestBenchPiston;
+import frc.team3128.subsystems.Led;
 import frc.team3128.subsystems.TestBenchMotor;
 
 /**
@@ -21,13 +23,14 @@
 public class RobotContainer {
 
     //private NAR_Drivetrain m_drive;
-    private TestBenchMotor testBenchMotor;
-    private TestBenchPiston testBenchPiston;
+    //private TestBenchMotor testBenchMotor;
+    //private TestBenchPiston testBenchPiston;
     private NAR_Joystick m_leftStick;
     private NAR_Joystick m_rightStick;
+    private Led m_LedStrip;
 
     private CommandScheduler m_commandScheduler = CommandScheduler.getInstance();
-    private Command auto;
+    //private Command auto;
 
     private boolean DEBUG = false;
 
@@ -39,12 +42,15 @@ public RobotContainer() {
 
         m_leftStick = new NAR_Joystick(0);
         m_rightStick = new NAR_Joystick(1);
-        testBenchPiston = new TestBenchPiston();
+        //testBenchPiston = new TestBenchPiston();
+
+        m_LedStrip = new Led();
         // testBenchMotor = new TestBenchMotor(); 
         //m_commandScheduler.setDefaultCommand(testBenchSubsystem, new TestDrive(testBenchSubsystem));
 
         configureButtonBindings();
         dashboardInit();
+        new InstantCommand(m_LedStrip::setYellow,m_LedStrip);
     }   
 
     private void configureButtonBindings() {
@@ -57,9 +63,19 @@ private void configureButtonBindings() {
         // m_rightStick.getButton(2).onTrue(new RunCommand(testBenchMotor::runReverse,testBenchMotor));
         // m_rightStick.getButton(2).onFalse(new RunCommand(testBenchMotor::stop2,testBenchMotor));
 
-        m_rightStick.getButton(1).onTrue(new RunCommand(testBenchPiston::eject,testBenchPiston));
+        //m_rightStick.getButton(1).onTrue(new RunCommand(testBenchPiston::eject,testBenchPiston));
+
+        //m_rightStick.getButton(2).onTrue(new RunCommand(testBenchPiston::retract,testBenchPiston)); 
+        m_rightStick.getButton(3).onTrue(new InstantCommand(m_LedStrip::setYellow,m_LedStrip));
+
+        m_rightStick.getButton(4).onTrue(new InstantCommand(()-> m_LedStrip.ChangeValue(-1)));
+        m_rightStick.getButton(5).onTrue(new InstantCommand(()-> m_LedStrip.ChangeValue(1)));
 
-        m_rightStick.getButton(2).onTrue(new RunCommand(testBenchPiston::retract,testBenchPiston)); 
+        m_rightStick.getButton(6).onTrue(new InstantCommand(()-> m_LedStrip.ChangeSaturation(-1)));
+        m_rightStick.getButton(7).onTrue(new InstantCommand(()-> m_LedStrip.ChangeSaturation(1)));
+
+        m_rightStick.getButton(8).onTrue(new InstantCommand(()-> m_LedStrip.ChangeValue(-1)));
+        m_rightStick.getButton(9).onTrue(new InstantCommand(()-> m_LedStrip.ChangeValue(1)));
     }
 
     private void dashboardInit() {
@@ -74,9 +90,9 @@ public void stopDrivetrain() {
         //m_drive.stop();
     }
 
-    public Command getAutonomousCommand() {
-        return auto;
-    }
+    //public Command getAutonomousCommand() {
+        //return auto;
+    //}
 
     // public void updateDashboard() {
     //     SmartDashboard.putNumber("xxxxxxMotorRPMxxxxxxx", testBenchMotor.logRPM());

src/main/java/frc/team3128/subsystems/Led.java

@@ -0,0 +1,80 @@
+package frc.team3128.subsystems;
+
+import edu.wpi.first.wpilibj.AddressableLED;
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Led extends SubsystemBase{
+    private static Led instance;
+    private AddressableLED m_led;
+    private AddressableLEDBuffer m_ledBuffer;
+    private int Hue;
+    private int Saturation;
+    private int Value;
+
+    public Led(){
+        InitLeds();
+    }
+    public static synchronized Led getInstance() {
+        if (instance == null) {
+            instance = new Led();
+        }
+        return instance;
+    }
+
+    public void InitLeds() {
+        m_led = new AddressableLED(9);
+
+        m_ledBuffer = new AddressableLEDBuffer(288);
+        m_led.setLength(m_ledBuffer.getLength());
+
+        m_led.setData(m_ledBuffer);
+        m_led.start();
+    }
+
+    public void setYellow() {
+        for (var i = 0; i < m_ledBuffer.getLength(); i++) {
+            // Sets the specified LED to the RGB values for red
+            m_ledBuffer.setHSV(i, 130, 255, 50);
+            Hue = 140;
+            Saturation = 252;
+            Value = 252;
+         }
+
+         m_led.setData(m_ledBuffer);
+    }
+
+    public void setRGB(int r, int g, int b) {
+        for (var i = 0; i < m_ledBuffer.getLength(); i++) {
+            // Sets the specified LED to the RGB values for red
+            m_ledBuffer.setRGB(i, r, g, b);
+         }
+
+         m_led.setData(m_ledBuffer);
+    }
+    public void setHSV(int h, int s, int v) {
+        for (var i = 0; i < m_ledBuffer.getLength(); i++) {
+            // Sets the specified LED to the HSV values for red
+            m_ledBuffer.setHSV(i, h, s, v);
+         }
+
+         m_led.setData(m_ledBuffer);
+    }
+
+    public void ChangeHue(int change) {
+        Hue = Hue + change;
+        setHSV(Hue, Saturation, Value);
+    }
+    public void ChangeSaturation(int change) {
+        Saturation = Saturation + change;
+        setHSV(Hue, Saturation, Value);
+    }
+    public void ChangeValue(int change) {
+        Value = Value + change;
+        setHSV(Hue, Saturation, Value);
+    }
+
+
+
+}