add led code!

Team846 · Jan 19, 2025 · 1858927 · 1858927
1 parent d5b7f8e
commit 1858927
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Showing 5 changed files with 187 additions and 69 deletions.
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -1,21 +1,96 @@
 {
-  // Use IntelliSense to learn about possible attributes.
-  // Hover to view descriptions of existing attributes.
-  // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
-  "version": "0.2.0",
-  "configurations": [
-
-    {
-      "type": "wpilib",
-      "name": "WPILib Desktop Debug",
-      "request": "launch",
-      "desktop": true,
-    },
-    {
-      "type": "wpilib",
-      "name": "WPILib roboRIO Debug",
-      "request": "launch",
-      "desktop": false,
-    }
-  ]
-}
+    "version": "0.2.0",
+    "configurations": [
+
+        {
+            "type": "wpilib",
+            "name": "WPILib Desktop Debug",
+            "request": "launch",
+            "desktop": true
+        },
+        {
+            "type": "wpilib",
+            "name": "WPILib roboRIO Debug",
+            "request": "launch",
+            "desktop": true
+        },
+        {
+            "name": "C/C++: gcc build and debug active file",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${fileDirname}/${fileBasenameNoExtension}",
+            "args": [],
+            "stopAtEntry": false,
+            "cwd": "${fileDirname}",
+            "environment": [],
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                },
+                {
+                    "description": "Set Disassembly Flavor to Intel",
+                    "text": "-gdb-set disassembly-flavor intel",
+                    "ignoreFailures": true
+                }
+            ],
+            "preLaunchTask": "C/C++: gcc build active file",
+            "miDebuggerPath": "/usr/bin/gdb"
+        },
+        {
+            "name": "C/C++: g++-13 build and debug active file",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${fileDirname}/${fileBasenameNoExtension}",
+            "args": [],
+            "stopAtEntry": false,
+            "cwd": "${fileDirname}",
+            "environment": [],
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                },
+                {
+                    "description": "Set Disassembly Flavor to Intel",
+                    "text": "-gdb-set disassembly-flavor intel",
+                    "ignoreFailures": true
+                }
+            ],
+            "preLaunchTask": "C/C++: g++-13 build active file",
+            "miDebuggerPath": "/usr/bin/gdb"
+        },
+        {
+            "name": "C/C++: g++ build and debug active file",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${fileDirname}/${fileBasenameNoExtension}",
+            "args": [],
+            "stopAtEntry": false,
+            "cwd": "${fileDirname}",
+            "environment": [],
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                },
+                {
+                    "description": "Set Disassembly Flavor to Intel",
+                    "text": "-gdb-set disassembly-flavor intel",
+                    "ignoreFailures": true
+                }
+            ],
+            "preLaunchTask": "C/C++: g++ build active file",
+            "miDebuggerPath": "/usr/bin/gdb"
+        }
+    ]
+}
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
@@ -1,28 +1,89 @@
 {
     "tasks": [
-      {
-        "type": "cppbuild",
-        "label": "C/C++: clang++.exe build active file",
-        "command": "C:\\Program Files\\LLVM\\bin\\clang++.exe",
-        "args": [
-          "-fcolor-diagnostics",
-          "-fansi-escape-codes",
-          "-g",
-          "${file}",
-          "-o",
-          "${fileDirname}\\${fileBasenameNoExtension}.exe"
-        ],
-        "options": {
-          "cwd": "${fileDirname}"
+        {
+            "type": "cppbuild",
+            "label": "C/C++: clang++.exe build active file",
+            "command": "C:\\Program Files\\LLVM\\bin\\clang++.exe",
+            "args": [
+                "-fcolor-diagnostics",
+                "-fansi-escape-codes",
+                "-g",
+                "${file}",
+                "-o",
+                "${fileDirname}\\${fileBasenameNoExtension}.exe"
+            ],
+            "options": {
+                "cwd": "${fileDirname}"
+            },
+            "problemMatcher": [
+                "$gcc"
+            ],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "detail": "Task generated by Debugger."
         },
-        "problemMatcher": ["$gcc"],
-        "group": {
-          "kind": "build",
-          "isDefault": true
+        {
+            "type": "cppbuild",
+            "label": "C/C++: gcc build active file",
+            "command": "/usr/bin/gcc",
+            "args": [
+                "-fdiagnostics-color=always",
+                "-g",
+                "${file}",
+                "-o",
+                "${fileDirname}/${fileBasenameNoExtension}"
+            ],
+            "options": {
+                "cwd": "${fileDirname}"
+            },
+            "problemMatcher": [
+                "$gcc"
+            ],
+            "group": "build",
+            "detail": "Task generated by Debugger."
         },
-        "detail": "Task generated by Debugger."
-      }
+        {
+            "type": "cppbuild",
+            "label": "C/C++: g++-13 build active file",
+            "command": "/usr/bin/g++-13",
+            "args": [
+                "-fdiagnostics-color=always",
+                "-g",
+                "${file}",
+                "-o",
+                "${fileDirname}/${fileBasenameNoExtension}"
+            ],
+            "options": {
+                "cwd": "${fileDirname}"
+            },
+            "problemMatcher": [
+                "$gcc"
+            ],
+            "group": "build",
+            "detail": "Task generated by Debugger."
+        },
+        {
+            "type": "cppbuild",
+            "label": "C/C++: g++ build active file",
+            "command": "/usr/bin/g++",
+            "args": [
+                "-fdiagnostics-color=always",
+                "-g",
+                "${file}",
+                "-o",
+                "${fileDirname}/${fileBasenameNoExtension}"
+            ],
+            "options": {
+                "cwd": "${fileDirname}"
+            },
+            "problemMatcher": [
+                "$gcc"
+            ],
+            "group": "build",
+            "detail": "Task generated by Debugger."
+        }
     ],
     "version": "2.0.0"
-  }
-
+}
diff --git a/build.gradle b/build.gradle
@@ -37,7 +37,7 @@ deploy {
 def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
 
 // Set this to true to enable desktop support.
-def includeDesktopSupport = false
+def includeDesktopSupport = true
 
 // Set to true to run simulation in debug mode
 wpi.cpp.debugSimulation = true
@@ -115,7 +115,7 @@ spotless {
             include '**/*.cpp', '**/*.cc', '**/*.h', '**/*.hpp'
             exclude '**/build/**', '**/build-*/**'
         }
-        def selectedClangVersion = project.hasProperty('fromCI') ? '18.1.8' : '18.1.8'
+        def selectedClangVersion = project.hasProperty('fromCI') ? '19.1.7' : '19.1.7'
 
         def styleFile = file('.clang-format')
         def styleConfig = styleFile.text.trim()

diff --git a/src/y2025/cpp/subsystems/hardware/leds.cc b/src/y2025/cpp/subsystems/hardware/leds.cc
@@ -28,31 +28,15 @@ void LEDsSubsystem::WriteToHardware(LEDsTarget target) {
     }
 
     loops++;
-  } else if (target.state == kLEDSCOOPLeds) {
+  } else if (target.state == kLEDSFoundAprilTag) {
     for (int i = 0; i < kLength; i++) {
       leds_buffer_[i].SetRGB(255, 255, 255);
     }
-  } else if (target.state == kLEDSAmpingLeds) {
-    for (int i = 0; i < kLength; i++) {
-      leds_buffer_[i].SetRGB(255, 0, 255);
-    }
   } else if (target.state == kLEDSClimbing) {
     for (int i = 0; i < kLength; i++) {
       leds_buffer_[i].SetRGB(0, 255, 0);
     }
-  } else if (target.state == kLEDSPreparingShoot) {
-    if (loops % 20 < 10) {
-      for (int i = 0; i < kLength; i++) {
-        leds_buffer_[i].SetRGB(0, 0, 255);
-      }
-    } else {
-      for (int i = 0; i < kLength; i++) {
-        leds_buffer_[i].SetRGB(0, 0, 0);
-      }
-    }
-    loops++;
-    loops %= 100;
-  } else if (target.state == kLEDSReadyToShoot) {
+  } else if (target.state == kLEDSFoundReef) {
     if (loops % 10 < 5) {
       for (int i = 0; i < kLength; i++) {
         leds_buffer_[i].SetRGB(0, 255, 0);

diff --git a/src/y2025/include/subsystems/hardware/leds.h b/src/y2025/include/subsystems/hardware/leds.h
@@ -9,14 +9,12 @@ enum LEDsState {
   kLEDSNotReady,
   kLEDSZeroing,
   kLEDSTeleop,
-  kLEDSAutonomous,
-  kLEDSHasPiece,
-  kLEDSPreparingShoot,
-  kLEDSReadyToShoot,
+  kLEDSAutonomous,  // auto phase + GPD pickup
   kLEDSClimbing,
-  kLEDSAmpingLeds,
-  kLEDSCOOPLeds,
-  kLEDSDisabled,
+  kLEDSHasPiece,
+  kLEDSFoundReef,  // will start reef placing mechanism
+  kLEDSFoundAprilTag,
+  kLEDSDisabled
 };
 
 struct LEDsReadings {};