Code to test LEDs

When Y is pressed on the controller, the LEDs cycle through 3 modes. Just meant to test LEDs; final will probably be controlled differently.

2019robot/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2019.1.1"
+    id "edu.wpi.first.GradleRIO" version "2019.2.1"
 }
 
 def ROBOT_MAIN_CLASS = "org.usfirst.frc4388.robot.Main"

2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java

@@ -60,7 +60,8 @@ public class OI
 	        JoystickButton shiftDown = new JoystickButton(m_driverXbox.getJoyStick(), XboxController.LEFT_BUMPER_BUTTON);
 	        shiftDown.whenPressed(new DriveSpeedShift(false));
 	       // shiftDown.whenPressed(new LEDIndicators(false));
-	        
+			
+	        ledSwitch.whenPressed(new LedSwitch());
 	        
 	        //Operator Xbox
 /*

2019robot/src/main/java/org/usfirst/frc4388/robot/RobotMap.java

@@ -17,15 +17,8 @@ public class RobotMap {
 	public static final int DRIVETRAIN_RIGHT_MOTOR1_CAN_ID = 4;
 	public static final int DRIVETRAIN_RIGHT_MOTOR2_CAN_ID = 5;
 	
-	//carriage motors
-	public static final int CARRIAGE_LEFT_MOTOR_CAN_ID = 8;
-	public static final int CARRIAGE_RIGHT_MOTOR_CAN_ID = 9;
-	  
-	//Elevator Motors
-	public static final int ELEVATOR_MOTOR1_ID = 6;
-	public static final int ELEVATOR_MOTOR2_ID = 7;
-	public static final int CLIMBER_CAN_ID = 10;
-	
+	// LED
+	public static final int LED_DRIVER = 0;
 	
 	// Pneumatics
 	public static final int DRIVETRAIN_SPEEDSHIFT_PCM_ID = 0;

2019robot/src/main/java/org/usfirst/frc4388/robot/commands/LedSwitch.java

@@ -0,0 +1,59 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package org.usfirst.frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class LedSwitch extends Command {
+  public LedSwitch() {
+    requires(LED);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+    float lastTime = System.currentTimeMillis;
+    LED.mode1();
+  }
+
+  /** 
+   * Called repeatedly when this Command is scheduled to run. Cycles through 3 LED modes 
+   * before returning to begining
+   */
+  @Override
+  protected void execute() {
+    if(System.currentTimeMillis>lastTime+30000){ //After 30 seconds
+      LED.mode1();
+      float lastTime = System.currentTimeMillis;
+    }
+    else if(System.currentTimeMillis>lastTime+20000){//After 20 seconds
+      LED.mode3();
+    }
+    else if( System.currentTimeMillis>lastTime+10000){//After 10 seconds
+      LED.mode2();
+    }
+
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}

2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/LED.java

@@ -0,0 +1,36 @@
+package org.usfirst.frc4388.robot.subsystems;
+
+import org.usfirst.frc.team2848.robot.RobotMap;
+
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ *
+ */
+public class LED extends Subsystem {
+
+	//LED Spark controller
+	public Spark LED1 = new Spark(RobotMap.LED_DRIVER);
+	
+
+	//public void initDefaultCommand() {}
+	
+	//LED mode 1
+	public void mode1() { ///TODO: name the modes
+		LED1.set(-.57);
+	}
+	
+	//LED mode 2
+	public void mode2() {
+		LED1.set(.32);
+	}
+	
+	//LED mode 3
+	public void mode3() {
+		LED1.set(-.69);
+    }
+    
+}