Initial commit

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

@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* 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 frc4388.robot.subsystems;
+
+import org.littletonrobotics.junction.AutoLogOutput;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.constants.Constants.LEDConstants;
+import frc4388.utility.status.Status;
+import frc4388.utility.status.FaultReporter;
+import frc4388.utility.status.Queryable;
+import frc4388.utility.status.Status.ReportLevel;
+import frc4388.utility.structs.LEDPatterns;
+
+/**
+ * Allows for the control of a 5v LED Strip using a Rev Robotics Blinkin LED
+ * Driver
+ */
+public class LED extends SubsystemBase implements Queryable {
+  public LED() {
+    FaultReporter.register(this);
+  }
+
+  private static Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
+  private LEDPatterns mode = LEDConstants.DEFAULT_PATTERN;
+
+  public void setMode(LEDPatterns pattern){
+    this.mode = pattern;
+  }
+
+  @Override
+  public void periodic() {
+    update();
+  }
+
+  public void update() {
+    if(!LEDController.isAlive() || LEDController.isSafetyEnabled()) return;
+
+    if(DriverStation.isDisabled()){
+      LEDController.set(LEDConstants.DEFAULT_PATTERN.getValue());
+    }else
+      LEDController.set(mode.getValue());
+  }
+
+  @AutoLogOutput
+  public String state() {
+    return mode.getClass().toString();
+  }
+
+  @Override
+  public String getName() {
+    return "LEDs";
+  }
+
+  @Override
+  public Status diagnosticStatus() {
+    Status status = new Status();
+
+    if(!LEDController.isAlive())
+      status.addReport(ReportLevel.ERROR, "LED is DISCONNECTED");
+    
+    status.addReport(ReportLevel.INFO, "LED Mode: " + mode.name());
+
+    return status;
+  }
+  
+
+}