Leds removed from others

commands/amp_load.py

@@ -4,16 +4,14 @@
 from subsystems.intake import Intake
 from subsystems.photoeyes import Photoeyes
 from subsystems.amp import Amp
-from subsystems.leds import Leds
 
 
 class AmpLoad(Command):
-    def __init__(self, amp: Amp, intake: Intake, photoeyes: Photoeyes, leds: Leds) -> None:
+    def __init__(self, amp: Amp, intake: Intake, photoeyes: Photoeyes) -> None:
         super().__init__()
         self.amp = amp
         self.photoeyes = photoeyes
         self.intake = intake
-        self.leds = leds
         self.addRequirements(amp)
 
     def initialize(self) -> None:
@@ -42,7 +40,6 @@ def isFinished(self) -> bool:
         if self.timer.get() > 3.0:
             return True
         if self.photoeyes.get_amp_loaded() is True:
-            self.leds.amp_loaded()
             return True
         return False
 

commands/eject_note.py

@@ -2,15 +2,13 @@
 from commands2 import Command
 from subsystems.intake import Intake
 from subsystems.photoeyes import Photoeyes
-from subsystems.leds import Leds
 
 
 class EjectNote(Command):
-    def __init__(self, intake: Intake, photoeyes: Photoeyes, leds: Leds):
+    def __init__(self, intake: Intake, photoeyes: Photoeyes):
         super().__init__()
         self.intake = intake
         self.photoeyes = photoeyes
-        self.leds = leds
         self.addRequirements(intake)
 
     def initialize(self):

commands/intake_note.py

@@ -4,18 +4,16 @@
 from subsystems.shooter import Shooter
 from subsystems.amp import Amp
 from subsystems.photoeyes import Photoeyes
-from subsystems.leds import Leds
 
 
 class IntakeNote(Command):
     def __init__(self, intake: Intake, shooter: Shooter, amp: Amp,
-                 photoeyes: Photoeyes, leds: Leds):
+                 photoeyes: Photoeyes):
         super().__init__()
         self.intake = intake
         self.shooter = shooter
         self.amp = amp
         self.photoeyes = photoeyes
-        self.leds = leds
         self.addRequirements(intake)
 
     def initialize(self):
@@ -31,12 +29,10 @@ def initialize(self):
     def execute(self):
         if self.forceQuit:
             return
-        self.leds.intake_running()
         self.intake.feed()
         if self.photoeyes.get_intake_loaded():
             self.intake.halt()
             self.intake.tilt_up()
-            self.leds.intake_loaded()
             self.forceQuit = True
         pass
 

commands/return_to_home.py

@@ -4,18 +4,16 @@
 from subsystems.shooter import Shooter
 from subsystems.amp import Amp
 from subsystems.photoeyes import Photoeyes
-from subsystems.leds import Leds
 
 
 class ReturnToHome(Command):
     def __init__(self, intake: Intake, shooter: Shooter, amp: Amp,
-                 photoeyes: Photoeyes, leds: Leds):
+                 photoeyes: Photoeyes):
         super().__init__()
         self.intake = intake
         self.shooter = shooter
         self.amp = amp
         self.photoeyes = photoeyes
-        self.leds = leds
         self.addRequirements(intake)
 
     def initialize(self):

commands/shooter_load.py

@@ -2,21 +2,19 @@
 from wpilib import Timer
 
 from subsystems.intake import Intake
-from subsystems.leds import Leds
 from subsystems.photoeyes import Photoeyes
 from subsystems.amp import Amp
 from subsystems.shooter import Shooter
 
 
 class ShooterLoad(Command):
     def __init__(self, amp: Amp, intake: Intake, shooter: Shooter,
-                 photoeyes: Photoeyes, leds: Leds) -> None:
+                 photoeyes: Photoeyes) -> None:
         super().__init__()
         self.amp = amp
         self.photoeyes = photoeyes
         self.intake = intake
         self.shooter = shooter
-        self.leds = leds
         self.addRequirements(amp)
         self.addRequirements(shooter)
         self.addRequirements(intake)
@@ -53,7 +51,6 @@ def isFinished(self) -> bool:
         if self.timer.get() > 4.0:
             return True
         if self.photoeyes.get_shooter_loaded() is True:
-            self.leds.shooter_loaded()
             return True
         return False
 

robot.py

@@ -72,17 +72,21 @@ def robotInit(self) -> None:
                                              self.commander_joystick2)
 
         self.gyro = gyro.Gyro()
-        self.leds = leds.Leds()
         self.photoeyes = photoeyes.Photoeyes()
 
         self.amp = amp.Amp(self.commander, self.photoeyes)
-        self.shooter = shooter.Shooter(self.leds)
+        self.shooter = shooter.Shooter()
         self.note_tracker = note_tracker.NoteTracker()
         self.intake = intake.Intake(self.commander, self.photoeyes)
         self.swerve = drivetrain.Drivetrain(self.gyro, self.driver,
-                                            self.note_tracker, self.leds)
+                                            self.note_tracker)
         self.note_tracker = note_tracker.NoteTracker()
         self.climber = climber.Climber(self.driver)
+        self.leds = leds.Leds(
+            self.amp, self.intake, self.shooter,
+            self.swerve, self.note_tracker,
+            self.climber, self.photoeyes
+        )
         self.param_editor = param_editor.ParamEditor(
             self.swerve.defcmd.straight_drive_pid
         )
@@ -116,22 +120,20 @@ def configure_commander_controls(self):
         intake_button = JoystickButton(self.commander_joystick1,
                                        RBM.intake_ready_c1)
         intake_button.whileTrue(IntakeNote(self.intake, self.shooter,
-                                           self.gyro, self.photoeyes,
-                                           self.leds))
+                                           self.gyro, self.photoeyes))
 
         eject_button = JoystickButton(self.commander_joystick1,
                                       RBM.intake_eject_c1)
-        eject_button.onTrue(EjectNote(self.intake, self.photoeyes, self.leds))
+        eject_button.onTrue(EjectNote(self.intake, self.photoeyes))
 
         amp_load_button = JoystickButton(self.commander_joystick2,
                                          RBM.load_note_amp_c2)
-        amp_load_button.onTrue(AmpLoad(self.amp, self.intake, self.photoeyes, self.leds))
+        amp_load_button.onTrue(AmpLoad(self.amp, self.intake, self.photoeyes))
 
         shooter_load_button = JoystickButton(self.commander_joystick1,
                                              RBM.load_note_shooter_c1)
         shooter_load_button.onTrue(ShooterLoad(self.amp, self.intake,
-                                               self.shooter, self.photoeyes,
-                                               self.leds))
+                                               self.shooter, self.photoeyes))
 
         amp_set_height_amp = JoystickButton(self.commander_joystick2,
                                             RBM.amp_lift_home_c2)
@@ -186,12 +188,6 @@ def configure_commander_controls(self):
         shooter_spin.onFalse(InstantCommand(self.shooter.spin_down))
 
     def robotPeriodic(self) -> None:
-        SmartDashboard.putNumber("Amp Height", self.amp.get_height())
-        if DriverStation.isDisabled():
-            self.leds.set_connect_status()
-
-        # SmartDashboard.putNumber("Climber Speed", self.driver.get_climber_trigger())
-
         # Rough idea of how to incorporate vision into odometry
         if self.swerve.vision_stable is True:
             from math import pi
@@ -224,7 +220,7 @@ def robotPeriodic(self) -> None:
                     rot = p.rotation().degrees()
                     # self.swerve.odometry.addVisionMeasurement(p, 0, (0.1, 0.1, 0.1))
                     ts = self.vision_timer.getFPGATimestamp() - timelag
-                    print(f'vision heading: {x}, {y}, {rot}, {ts}')
+                    # print(f'vision heading: {x}, {y}, {rot}, {ts}')
                     xdev, ydev, rotdev = cw
                     self.swerve.odometry.addVisionMeasurement(
                         p, ts, (xdev, ydev, rotdev)
@@ -239,7 +235,7 @@ def auto_station_1(self):
         delaycmd = Delay(5)
         cmd = PathPlannerAuto("LakeCityTwoNote")
         intake_to_shooter = ShooterLoad(self.amp, self.intake, self.shooter,
-                                        self.photoeyes, self.leds)
+                                        self.photoeyes)
         shootcmd = AutoShooterLaunchNote(self.shooter,
                                          shooter.tilt_safe, 80)
         cmds = [
@@ -255,7 +251,7 @@ def auto_station_2(self):
         delaycmd = Delay(1)
         cmd = PathPlannerAuto("LakeCityTwoNoteCenter")
         intake_to_shooter = ShooterLoad(self.amp, self.intake, self.shooter,
-                                        self.photoeyes, self.leds)
+                                        self.photoeyes)
         shootcmd = AutoShooterLaunchNote(self.shooter,
                                          shooter.tilt_safe, 80)
         cmds = [
@@ -271,7 +267,7 @@ def auto_station_3(self):
         delaycmd = Delay(1)
         cmd = PathPlannerAuto("LakeCityTwoNote3")
         intake_to_shooter = ShooterLoad(self.amp, self.intake, self.shooter,
-                                        self.photoeyes, self.leds)
+                                        self.photoeyes)
         shootcmd = AutoShooterLaunchNote(self.shooter,
                                          shooter.tilt_safe, 80)
         cmds = [

simgui-window.json

@@ -44,7 +44,7 @@
     },
     "###NetworkTables": {
       "Collapsed": "0",
-      "Pos": "99,40",
+      "Pos": "237,11",
       "Size": "635,613"
     },
     "###NetworkTables Info": {

subsystems/drivetrain.py

@@ -6,7 +6,6 @@
 
 import json
 import math
-from subsystems.leds import Leds
 import subsystems.swervemodule as swervemodule
 import subsystems.gyro as gyro
 from commands2 import Subsystem, Command
@@ -43,16 +42,15 @@ class Drivetrain(Subsystem):
     """
     Represents a swerve drive style drivetrain.
     """
-    def __init__(self, gyro: gyro.Gyro, driver_controller, photon: NoteTracker,
-                 leds: Leds) -> None:
+    def __init__(self, gyro: gyro.Gyro, driver_controller,
+                 photon: NoteTracker) -> None:
         super().__init__()
         # TODO: Set these to the right numbers in centimeters
         self.frontLeftLocation = Translation2d(swerve_offset, swerve_offset)
         self.frontRightLocation = Translation2d(swerve_offset, -swerve_offset)
         self.backLeftLocation = Translation2d(-swerve_offset, swerve_offset)
         self.backRightLocation = Translation2d(-swerve_offset, -swerve_offset)
         self.photon = photon
-        self.leds = leds
 
         self.lockable = False
         self.locked = False
@@ -156,7 +154,7 @@ def __init__(self, gyro: gyro.Gyro, driver_controller, photon: NoteTracker,
             self  # Reference to this subsystem to set requirements
         )
 
-        self.defcmd = DrivetrainDefaultCommand(self, self.controller, photon, leds, gyro)
+        self.defcmd = DrivetrainDefaultCommand(self, self.controller, photon, gyro)
         self.setDefaultCommand(self.defcmd)
 
     def lock_heading(self):
@@ -317,12 +315,11 @@ class DrivetrainDefaultCommand(Command):
     Default command for the drivetrain.
     """
     def __init__(self, drivetrain: Drivetrain, controller: DriverController,
-                 photon: NoteTracker, leds: Leds, gyro: Gyro) -> None:
+                 photon: NoteTracker, gyro: Gyro) -> None:
         super().__init__()
         self.drivetrain = drivetrain
         self.controller = controller
         self.photon = photon
-        self.leds = leds
         self.gyro = gyro
         self.note_pid = PIDController(*PIDC.note_tracking_pid)
         self.note_translate_pid = PIDController(*PIDC.note_translate_pid)
@@ -426,7 +423,6 @@ def execute(self) -> None:
             if yaw is not None:
                 if abs(yaw) < 1.7:
                     rot = 0
-                    self.leds.tracking_note()
                     xSpeed = 0.5
                 else:
                     if pitch is not None and pitch > 0:
@@ -435,9 +431,6 @@ def execute(self) -> None:
                         rot = 0
                         # Force a translation to center on the note when close
                         ySpeed = self.note_translate_pid.calculate(yaw, 0)
-                    self.leds.tracking_note()
-            else:
-                self.leds.tracking_note_not_found()
 
         if self.controller.get_slow_mode():
             self.leds.drivetrain_slow()

subsystems/leds.py

@@ -1,6 +1,15 @@
 from commands2 import Subsystem
 from wpilib import AddressableLED, DriverStation
 from constants import RobotSensorMap as RSM
+from subsystems.amp import Amp
+from subsystems.shooter import Shooter
+from subsystems.drivetrain import Drivetrain
+from subsystems.note_tracker import NoteTracker
+from subsystems.climber import Climber
+from subsystems.photoeyes import Photoeyes
+from subsystems.intake import Intake
+
+
 
 """
 HSV values:
@@ -27,10 +36,18 @@
 
 
 class Leds(Subsystem):
-    def __init__(self):
+    def __init__(self, amp: Amp, intake: Intake, shooter: Shooter,
+                 drive: Drivetrain, note_tracker: NoteTracker,
+                 climber: Climber, photoeyes: Photoeyes):
         super().__init__()
-
         self.leds = AddressableLED(RSM.addressable_leds)
+        self.amp = amp
+        self.intake = intake
+        self.shooter = shooter
+        self.drive = drive
+        self.note_tracker = note_tracker
+        self.climber = climber
+        self.photoeyes = photoeyes
 
         self.led_length = 135
         self.blinking = False
@@ -42,10 +59,28 @@ def __init__(self):
         self.led_data = [AddressableLED.LEDData() for _ in range(self.led_length)]
 
         self.rainbowFirstPixelHue = 0
+        self.intake_loaded()
 
         self.leds.setData(self.led_data)
         self.leds.start()
 
+    def periodic(self) -> None:
+        if False:
+            if self.rainbow_mode:
+                self.rainbow()
+            elif self.blinking:
+                if self.blink_counter < blink_loops:
+                    self.blink_counter += 1
+                else:
+                    self.blink_counter = 0
+                    if self.blink_on:
+                        self.set_color(0)
+                        self.blink_on = False
+                    else:
+                        self.set_color(self.curr_color)
+                        self.blink_on = True
+        self.leds.setData(self.led_data)
+
     def rainbow(self):
         # For every pixel
         for i in range(self.led_length):
@@ -143,20 +178,4 @@ def off(self):
 
     def drivetrain_slow(self):
         # self.set_color(RED)
-        pass
-
-    def periodic(self) -> None:
-        if self.rainbow_mode:
-            self.rainbow()
-        elif self.blinking:
-            if self.blink_counter < blink_loops:
-                self.blink_counter += 1
-            else:
-                self.blink_counter = 0
-                if self.blink_on:
-                    self.set_color(0)
-                    self.blink_on = False
-                else:
-                    self.set_color(self.curr_color)
-                    self.blink_on = True
-        self.leds.setData(self.led_data)
+        pass