Make everything use our Subsystem class, improve LED controller

src/main/java/frc4388/robot/subsystems/LED.java

@@ -9,29 +9,67 @@ package frc4388.robot.subsystems;
 
 import edu.wpi.first.wpilibj.AddressableLED;
 import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 import frc4388.robot.Constants.LEDConstants;
 import frc4388.utility.LEDPatterns;
+import frc4388.utility.Status;
+import frc4388.utility.Subsystem;
+import frc4388.utility.Status.ReportLevel;
 
 /**
  * Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED
  * Driver
  */
-public class LED extends SubsystemBase {
+public class LED extends Subsystem {
 
   private static Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
-  private double mode = LEDConstants.DEFAULT_PATTERN.getValue();
+  private LEDPatterns mode = LEDConstants.DEFAULT_PATTERN;
 
   public void setMode(LEDPatterns pattern){
-    this.mode = pattern.getValue();
+    this.mode = pattern;
   }
 
   @Override
   public void periodic() {
-    LEDController.set(mode);
+    update();
   }
 
+  public void update() {
+    if(!LEDController.isAlive() || LEDController.isSafetyEnabled()) return;
+
+    if(DriverStation.isDisabled()){
+      LEDController.set(LEDConstants.DEFAULT_PATTERN.getValue());
+    }else
+      LEDController.set(mode.getValue());
+  }
+
+  @Override
+  public String getSubsystemName() {
+    return "LEDs";
+  }
+
+  @Override
+  public void queryStatus() {
+    SmartDashboard.putString("LED status", mode.name());
+  }
+
+  @Override
+  public Status diagnosticStatus() {
+    Status status = new Status();
+
+    if(LEDController.isAlive())
+      status.addReport(ReportLevel.INFO, "LED is CONNECTED");
+    else
+      status.addReport(ReportLevel.ERROR, "LED is DISCONNECTED");
+    
+    status.addReport(ReportLevel.INFO, "LED Mode: " + mode.name());
+
+    return status;
+  }
+  
+
 }