led subsystem (WIP)

src/main/java/org/jmhsrobotics/frc2024/Robot.java

@@ -40,7 +40,7 @@ public void robotInit() {
 	public void setupLogs() {
 		if (Robot.isSimulation()) {
 			// Filesystem.getOperatingDirectory().getAbsolutePath().
-			DataLogManager.start(Filesystem.getOperatingDirectory().getAbsolutePath() + "\\logs");
+			DataLogManager.start(Filesystem.getOperatingDirectory().getAbsolutePath() + "/logs");
 		} else {
 			DataLogManager.start();
 		}

src/main/java/org/jmhsrobotics/frc2024/RobotContainer.java

@@ -6,6 +6,8 @@
 
 import org.jmhsrobotics.frc2024.controlBoard.CompControl;
 import org.jmhsrobotics.frc2024.controlBoard.ControlBoard;
+import org.jmhsrobotics.frc2024.subsystems.LED.LEDSubsystem;
+import org.jmhsrobotics.frc2024.subsystems.LED.commands.LEDCommand;
 import org.jmhsrobotics.frc2024.subsystems.drive.DriveConstants;
 import org.jmhsrobotics.frc2024.subsystems.drive.DriveSubsystem;
 import org.jmhsrobotics.frc2024.subsystems.drive.commands.DriveCommand;
@@ -35,11 +37,14 @@ public class RobotContainer {
 
 	private final VisionSubsystem vision = new VisionSubsystem(this.driveSubsystem);
 
+	private final LEDSubsystem ledSubsystem = new LEDSubsystem();
+
 	private final SendableChooser<Command> autoChooser;
 
 	public RobotContainer() {
 
 		this.driveSubsystem.setDefaultCommand(new DriveCommand(this.driveSubsystem, this.control));
+		this.ledSubsystem.setDefaultCommand(new LEDCommand(this.ledSubsystem));
 		SmartDashboard.putData("Schedular", CommandScheduler.getInstance());
 		configureBindings();
 

src/main/java/org/jmhsrobotics/frc2024/subsystems/LED/LEDSubsystem.java

@@ -0,0 +1,67 @@
+package org.jmhsrobotics.frc2024.subsystems.LED;
+
+import edu.wpi.first.wpilibj.AddressableLED;
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.RobotBase;
+import edu.wpi.first.wpilibj.simulation.AddressableLEDSim;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class LEDSubsystem extends SubsystemBase {
+	private AddressableLED LED;
+	private AddressableLEDBuffer ledBuffer;
+
+	private int rainBowPixelHue = 0;
+	public LEDSubsystem() {
+		if (RobotBase.isSimulation()) {
+			initSim();
+		}
+
+		// TODO: find the real port
+		this.LED = new AddressableLED(9);
+
+		// TODO: get the real length
+		this.ledBuffer = new AddressableLEDBuffer(60);
+
+		this.LED.setLength(this.ledBuffer.getLength());
+		this.LED.setData(this.ledBuffer);
+
+	}
+
+	public void startLED() {
+		this.LED.start();
+	}
+
+	public void endLED() {
+		this.LED.stop();;
+	}
+
+	public void setRGB(int r, int g, int b) {
+		for (int i = 0; i < this.ledBuffer.getLength(); i++) {
+			this.ledBuffer.setRGB(i, r, g, b);
+		}
+		this.LED.setData(this.ledBuffer);
+
+	}
+
+	public void rainBow() {
+		for (var i = 0; i < this.ledBuffer.getLength(); i++) {
+			final var hue = (rainBowPixelHue + (i * 180 / this.ledBuffer.getLength())) % 180;
+			this.ledBuffer.setHSV(i, hue, 225, 128);
+		}
+		this.LED.setData(this.ledBuffer);
+		rainBowPixelHue += 3;
+
+		rainBowPixelHue %= 180;
+	}
+
+	private AddressableLEDSim simLEDs;
+	private void initSim() {
+		simLEDs = new AddressableLEDSim(LED);
+		simLEDs.setLength(60);
+
+	}
+
+	@Override
+	public void simulationPeriodic() {
+	}
+}

src/main/java/org/jmhsrobotics/frc2024/subsystems/LED/commands/LEDCommand.java

@@ -0,0 +1,40 @@
+package org.jmhsrobotics.frc2024.subsystems.LED.commands;
+
+import org.jmhsrobotics.frc2024.subsystems.LED.LEDSubsystem;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class LEDCommand extends Command {
+
+	private LEDSubsystem ledSubsystem;
+
+	public LEDCommand(LEDSubsystem ledSubsystem) {
+		this.ledSubsystem = ledSubsystem;
+
+		addRequirements(this.ledSubsystem);
+	}
+
+	@Override
+	public void initialize() {
+		this.ledSubsystem.startLED();
+
+	}
+
+	@Override
+	public void execute() {
+
+		// create a rainbow effect
+		// this.ledSubsystem.rainBow();
+		this.ledSubsystem.setRGB(255, 0, 0);
+	}
+
+	@Override
+	public boolean isFinished() {
+		return false;
+	}
+
+	@Override
+	public void end(boolean interrupted) {
+		this.ledSubsystem.endLED();
+	}
+}