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it not shooting properly (im tweakin)

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Abhishrek05
2024-02-13 20:01:12 -07:00
parent fa26da2b2b
commit 5997c73f55
7 changed files with 184 additions and 58 deletions
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src/main/java/frc4388/robot/subsystems/LED.java
+48 -21
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@@ -7,6 +7,8 @@
package frc4388.robot.subsystems;
import edu.wpi.first.wpilibj.AddressableLED;
import edu.wpi.first.wpilibj.AddressableLEDBuffer;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -20,44 +22,69 @@ import frc4388.utility.LEDPatterns;
*/
public class LED extends SubsystemBase {
private LEDPatterns m_currentPattern;
private Spark m_LEDController;
static AddressableLED m_led;
static AddressableLEDBuffer m_ledBuffer;
static LED m_self;
/**
* Add your docs here.
*/
public LED(Spark LEDController){
m_LEDController = LEDController;
setPattern(LEDConstants.DEFAULT_PATTERN);
updateLED();
public LED(){
if(m_self != null)
return;
m_led = new AddressableLED(9);
m_ledBuffer = new AddressableLEDBuffer(130);
m_led.setLength(m_ledBuffer.getLength());
m_led.setData(m_ledBuffer);
m_led.start();
System.err.println("In the Beginning, there was Joe.\nAnd he said, 'Let there be LEDs.'\nAnd it was good.");
}
public static LED getInstance() {
if(m_self == null)
m_self = new LED();
return m_self;
}
@Override
public void periodic(){
SmartDashboard.putNumber("LED", m_currentPattern.getValue());
//gamermode();
//SmartDashboard.putNumber("LED", m_currentPattern.getValue());
return;
}
static int firstcolor = 0;
static void gamermode() {
for(int i = 0; i < m_ledBuffer.getLength(); i++) {
final int hue = (firstcolor + (i * 180 / m_ledBuffer.getLength())) % 180;
setLEDHSV(i, hue, 255, 128);
}
firstcolor +=3;
firstcolor %= 180;
}
/**
* Add your docs here.
*/
public static void updateLED (){
gamermode();
// m_LEDController.set(m_currentPattern.getValue());
}
/**
* Add your docs here.
*/
public void updateLED(){
m_LEDController.set(m_currentPattern.getValue());
public static void setLEDRGB(int lednum, int r, int g, int b){
m_ledBuffer.setRGB(lednum, r, g, b);
//m_currentPattern = pattern;
// m_LEDController.set(m_currentPattern.getValue());
}
/**
* Add your docs here.
*/
public void setPattern(LEDPatterns pattern){
m_currentPattern = pattern;
m_LEDController.set(m_currentPattern.getValue());
public static void setLEDHSV(int lednum, int hue, int sat, int val){
m_ledBuffer.setRGB(lednum, hue, sat, val);
//m_currentPattern = pattern;
// m_LEDController.set(m_currentPattern.getValue());
}
/**
* Add your docs here.
* @return
*/
public LEDPatterns getPattern() {
return m_currentPattern;
public AddressableLEDBuffer getBuffer() {
return m_ledBuffer;
}
}