Team4388/2026KPopRobotHunters
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LEDs

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This commit is contained in:
Michael Mikovsky
2026-01-29 18:02:04 -07:00
parent fe412d0981
commit 0cc2d423fe
6 changed files with 128 additions and 94 deletions
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src/main/java/frc4388/robot/Robot.java
+1 -1
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@@ -129,7 +129,7 @@ public class Robot extends LoggedRobot {
@Override
public void teleopInit() {
m_robotContainer.stop();
// m_robotContainer.stop();
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
src/main/java/frc4388/robot/RobotContainer.java
+68 -56
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@@ -30,6 +30,7 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
// Autos
import frc4388.utility.controller.VirtualController;
import frc4388.utility.controller.XboxController;
import frc4388.utility.structs.LEDPatterns;
import frc4388.robot.commands.MoveForTimeCommand;
import frc4388.robot.commands.alignment.RotTo45;
import frc4388.robot.commands.MoveUntilSuply;
@@ -40,6 +41,7 @@ import frc4388.robot.commands.MoveUntilSuply;
import frc4388.robot.commands.wait.waitSupplier;
import frc4388.robot.constants.Constants;
import frc4388.robot.constants.Constants.AutoConstants;
import frc4388.robot.constants.Constants.LEDConstants;
import frc4388.robot.constants.Constants.OIConstants;
import frc4388.robot.constants.Constants.SimConstants.Mode;
@@ -63,10 +65,10 @@ public class RobotContainer {
public final RobotMap m_robotMap = new RobotMap(Mode.REAL);
/* Subsystems */
public final LED m_robotLED = new LED();
public final LED m_robotLED = new LED(LEDConstants.LED_SPARK_ID);
public final Vision m_vision = new Vision();
// public final Elevator m_robotElevator = new Elevator(m_robotMap.elevatorIO, m_robotLED);
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
// public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
// public final LiDAR reefLidar = new LiDAR(m_robotMap.reefLidar, "Reef");
@@ -81,11 +83,11 @@ public class RobotContainer {
// public List<Subsystem> subsystems = new ArrayList<>();
// ! Teleop Commands
public void stop() {
new InstantCommand(()->{}, m_robotSwerveDrive).schedule();
m_robotSwerveDrive.stopModules();
Constants.AutoConstants.Y_OFFSET_TRIM.set(0);
}
// public void stop() {
// new InstantCommand(()->{}, m_robotSwerveDrive).schedule();
// m_robotSwerveDrive.stopModules();
// Constants.AutoConstants.Y_OFFSET_TRIM.set(0);
// }
// ! /* Autos */
private SendableChooser<String> autoChooser;
@@ -96,9 +98,9 @@ public class RobotContainer {
configureButtonBindings();
DeferredBlock.addBlock(() -> { // Called on first robot enable
m_robotSwerveDrive.resetGyro();
}, false);
// DeferredBlock.addBlock(() -> { // Called on first robot enable
// m_robotSwerveDrive.resetGyro();
// }, false);
DeferredBlock.addBlock(() -> { // Called on every robot enable
TimesNegativeOne.update();
}, true);
@@ -106,27 +108,27 @@ public class RobotContainer {
DriverStation.silenceJoystickConnectionWarning(true);
m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
// m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
// IF the driver is holding the aim button, aim the robot towards the hub
if(m_driverXbox.getRightTriggerAxis() > 0.5) {
// Aim
Translation2d shootTarget = new Translation2d();
// new Rotation2()
Rotation2d ang = m_robotSwerveDrive.getPose2d().getTranslation().minus(shootTarget).getAngle();
m_robotSwerveDrive.driveFieldAngle(
getDeadbandedDriverController().getLeft(),
ang);
} else {
// Drive normally
m_robotSwerveDrive.driveWithInput(
getDeadbandedDriverController().getLeft(),
getDeadbandedDriverController().getRight(),true);
}
// // IF the driver is holding the aim button, aim the robot towards the hub
// if(m_driverXbox.getRightTriggerAxis() > 0.5) {
// // Aim
// Translation2d shootTarget = new Translation2d();
// // new Rotation2()
// Rotation2d ang = m_robotSwerveDrive.getPose2d().getTranslation().minus(shootTarget).getAngle();
// m_robotSwerveDrive.driveFieldAngle(
// getDeadbandedDriverController().getLeft(),
// ang);
// } else {
// // Drive normally
// m_robotSwerveDrive.driveWithInput(
// getDeadbandedDriverController().getLeft(),
// getDeadbandedDriverController().getRight(),true);
// }
}, m_robotSwerveDrive)
.withName("SwerveDrive DefaultCommand"));
m_robotSwerveDrive.setToSlow();
// }, m_robotSwerveDrive)
// .withName("SwerveDrive DefaultCommand"));
// m_robotSwerveDrive.setToSlow();
}
@@ -142,28 +144,38 @@ public class RobotContainer {
private void configureButtonBindings() {
// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro()));
.onTrue(new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.C1C2_GRADIENT)));
// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
// .onTrue(new RotTo45(m_robotSwerveDrive));
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive));
.onTrue(new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.OCEAN_RAINBOW)));
new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.RAINBOW_RAINBOW)));
new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
.onTrue(new InstantCommand(() -> m_robotLED.setTo5V()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> {m_robotSwerveDrive.softStop();}, m_robotSwerveDrive));
// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.START_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.activateLuigiMode()));
// new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.deactivateLuigiMode()));
}
/**
@@ -214,17 +226,17 @@ public class RobotContainer {
}
autoChooser.onChange((filename) -> {
autoChooserUpdated = true;
if (filename.equals("Taxi")) {
autoCommand = new SequentialCommandGroup(
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0, -1),
new Translation2d(), 1000, true
), new InstantCommand(()-> {m_robotSwerveDrive.softStop();} , m_robotSwerveDrive));
} else {
autoCommand = new PathPlannerAuto(filename);
}
System.out.println("Robot Auto Changed " + filename);
// autoChooserUpdated = true;
// if (filename.equals("Taxi")) {
// autoCommand = new SequentialCommandGroup(
// new MoveForTimeCommand(m_robotSwerveDrive,
// new Translation2d(0, -1),
// new Translation2d(), 1000, true
// ), new InstantCommand(()-> {m_robotSwerveDrive.softStop();} , m_robotSwerveDrive));
// } else {
// autoCommand = new PathPlannerAuto(filename);
// }
// System.out.println("Robot Auto Changed " + filename);
});
// SmartDashboard.putData(autoChooser);
src/main/java/frc4388/robot/RobotMap.java
+23 -23
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@@ -53,7 +53,7 @@ public class RobotMap {
// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
/* Swreve Drive Subsystem */
public final SwerveIO swerveDrivetrain;
// public final SwerveIO swerveDrivetrain;
// /* Elevator Subsystem */
// public final ElevatorIO elevatorIO;
@@ -76,13 +76,13 @@ public class RobotMap {
// reverseLidar = new LidarReal(LiDARConstants.REVERSE_LIDAR_DIO_CHANNEL);
// Configure swerve drive train
SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDrivetrainReal = new SwerveDrivetrain<TalonFX, TalonFX, CANcoder> (TalonFX::new, TalonFX::new, CANcoder::new,
SwerveDriveConstants.DrivetrainConstants,
SwerveDriveConstants.FRONT_LEFT, SwerveDriveConstants.FRONT_RIGHT,
SwerveDriveConstants.BACK_LEFT, SwerveDriveConstants.BACK_RIGHT
);
// SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDrivetrainReal = new SwerveDrivetrain<TalonFX, TalonFX, CANcoder> (TalonFX::new, TalonFX::new, CANcoder::new,
// SwerveDriveConstants.DrivetrainConstants,
// SwerveDriveConstants.FRONT_LEFT, SwerveDriveConstants.FRONT_RIGHT,
// SwerveDriveConstants.BACK_LEFT, SwerveDriveConstants.BACK_RIGHT
// );
swerveDrivetrain = new SwerveReal(swerveDrivetrainReal);
// swerveDrivetrain = new SwerveReal(swerveDrivetrainReal);
// Configure elevator
@@ -99,23 +99,23 @@ public class RobotMap {
// Fault
FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
// FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
// FaultTalonFX.addDevice(elevator, "Elevator");
// FaultTalonFX.addDevice(endeffector, "Endeffector");
// // FaultTalonFX.addDevice(elevator, "Elevator");
// // FaultTalonFX.addDevice(endeffector, "Endeffector");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer");
FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(0).getEncoder(), "Module 0 CANCoder");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(1).getDriveMotor(), "Module 1 Drive");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(1).getSteerMotor(), "Module 1 Steer");
FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(1).getEncoder(), "Module 1 CANCoder");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(2).getDriveMotor(), "Module 2 Drive");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(2).getSteerMotor(), "Module 2 Steer");
FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(2).getEncoder(), "Module 2 CANCoder");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(3).getDriveMotor(), "Module 3 Drive");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(3).getSteerMotor(), "Module 3 Steer");
FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(3).getEncoder(), "Module 3 CANCoder");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer");
// FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(0).getEncoder(), "Module 0 CANCoder");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(1).getDriveMotor(), "Module 1 Drive");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(1).getSteerMotor(), "Module 1 Steer");
// FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(1).getEncoder(), "Module 1 CANCoder");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(2).getDriveMotor(), "Module 2 Drive");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(2).getSteerMotor(), "Module 2 Steer");
// FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(2).getEncoder(), "Module 2 CANCoder");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(3).getDriveMotor(), "Module 3 Drive");
// FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(3).getSteerMotor(), "Module 3 Steer");
// FaultCANCoder.addDevice(swerveDrivetrainReal.getModule(3).getEncoder(), "Module 3 CANCoder");
break;
// case SIM:
@@ -125,7 +125,7 @@ public class RobotMap {
// rightCamera = new VisionIO() {};
// reefLidar = new LidarIO() {};
// reverseLidar = new LidarIO() {};
swerveDrivetrain = new SwerveIO() {};
// swerveDrivetrain = new SwerveIO() {};
// elevatorIO = new ElevatorIO() {};
break;
}
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
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@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 8;
public static final String GIT_SHA = "a27cde3f84484e652e5dcc1fd2f432871a2f0245";
public static final String GIT_DATE = "2026-01-13 19:41:42 MST";
public static final int GIT_REVISION = 9;
public static final String GIT_SHA = "fe412d09810b860f3ac2a65296613feac250a4e9";
public static final String GIT_DATE = "2026-01-19 13:57:43 MST";
public static final String GIT_BRANCH = "master";
public static final String BUILD_DATE = "2026-01-19 13:56:58 MST";
public static final long BUILD_UNIX_TIME = 1768856218593L;
public static final String BUILD_DATE = "2026-01-27 19:38:56 MST";
public static final long BUILD_UNIX_TIME = 1769567936908L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/constants/Constants.java
+1 -1
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@@ -108,7 +108,7 @@ public final class Constants {
public static final class LEDConstants {
public static final int LED_SPARK_ID = 9;
public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.SOLID_RED_ORANGE;
public static final LEDPatterns WAITING_PATTERN = LEDPatterns.SOLID_RED;
public static final LEDPatterns DOWN_PATTERN = LEDPatterns.SOLID_YELLOW;
src/main/java/frc4388/robot/subsystems/LED.java
+30 -8
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@@ -10,6 +10,7 @@ package frc4388.robot.subsystems;
import org.littletonrobotics.junction.AutoLogOutput;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.PWM;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.constants.Constants.LEDConstants;
@@ -24,11 +25,19 @@ import frc4388.utility.structs.LEDPatterns;
* Driver
*/
public class LED extends SubsystemBase implements Queryable {
public LED() {
private PWM m_pwm;
public LED(int PWMport) {
FaultReporter.register(this);
m_pwm = new PWM(PWMport);
m_pwm.setBoundsMicroseconds(2003, 1550, 1500, 1460, 999);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
}
private static Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
private LEDPatterns mode = LEDConstants.DEFAULT_PATTERN;
public void setMode(LEDPatterns pattern){
@@ -41,14 +50,27 @@ public class LED extends SubsystemBase implements Queryable {
}
public void update() {
if(!LEDController.isAlive() || LEDController.isSafetyEnabled()) return;
if(DriverStation.isDisabled()){
LEDController.set(LEDConstants.DEFAULT_PATTERN.getValue());
m_pwm.setSpeed(LEDConstants.DEFAULT_PATTERN.getValue());
}else
LEDController.set(mode.getValue());
m_pwm.setSpeed(mode.getValue());
}
// I freaking hate unmaintained code so much
// https://github.com/REVrobotics/Blinkin-Firmware/pull/12
// Turns out the REV Blinkin firmware has an undocumented 'feature'
// that means that whenever a specific pulse length is randomly generated,
// the pulse has a chance of changing the selected strip of the Blinkin
// 2125 μs for 5v, 2145 μs for 12v
// Also check out: https://www.chiefdelphi.com/t/rev-blinkin-resetting-strip-mode-randomly/432510/12
public void setTo5V() {
try {
m_pwm.setPulseTimeMicroseconds(2125);
Thread.sleep(10);
update();
} catch (InterruptedException e) {}
}
@AutoLogOutput
public String state() {
return mode.getClass().toString();
@@ -63,8 +85,8 @@ public class LED extends SubsystemBase implements Queryable {
public Status diagnosticStatus() {
Status status = new Status();
if(!LEDController.isAlive())
status.addReport(ReportLevel.ERROR, "LED is DISCONNECTED");
// if(!LEDController.isAlive())
// status.addReport(ReportLevel.ERROR, "LED is DISCONNECTED");
status.addReport(ReportLevel.INFO, "LED Mode: " + mode.name());