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Feat(leds):spiked leds #136

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Feat(leds):spiked leds #136

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3dd697b
added rainbow speed effect and spike blinking effect
Mau38 Mar 15, 2023
8ea5020
moved spiked leds to elevarm subsystem. Needs testing
Mau38 Mar 23, 2023
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7 changes: 6 additions & 1 deletion src/main/cpp/subsystems/Drivetrain.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -77,7 +77,8 @@ Drivetrain::Drivetrain(frc::TimedRobot *_robot) : ValorSubsystem(_robot, "Drivet
estimator(NULL),
config(NULL),
thetaController{KPT, KIT, KDT, frc::ProfiledPIDController<units::radians>::Constraints(units::angular_velocity::radians_per_second_t{rotMaxSpeed}, units::angular_acceleration::radians_per_second_squared_t{rotMaxAccel})},
swerveNoError(true)
swerveNoError(true),
candle(robot, 286, 60, "baseCAN")
{
frc2::CommandScheduler::GetInstance().RegisterSubsystem(this);
init();
Expand Down Expand Up @@ -316,6 +317,10 @@ void Drivetrain::assignOutputs()
limeTable->PutNumber("pipeline", LimelightPipes::APRIL_TAGS);
drive(state.xSpeedMPS, state.ySpeedMPS, state.rotRPS, true);
}

if((fabs(state.xSpeed) + fabs(state.ySpeed))/2.0 > 0.8){
candle.setAnimation(candle.Rainbow);
}
}

void Drivetrain::pullSwerveModuleZeroReference(){
Expand Down
5 changes: 4 additions & 1 deletion src/main/cpp/subsystems/Intake.cpp
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Expand Up @@ -22,7 +22,8 @@

Intake::Intake(frc::TimedRobot *_robot) : ValorSubsystem(_robot, "Intake"),
intakeMotor(CANIDs::INTAKE_LEAD_CAN, ValorNeutralMode::Coast, false, "baseCAN"),
currentSensor(_robot, subsystemName)
currentSensor(_robot, subsystemName),
candle(robot, 286, CANIDs::CANDLE, "baseCAN")

{
frc2::CommandScheduler::GetInstance().RegisterSubsystem(this);
Expand Down Expand Up @@ -175,6 +176,8 @@ void Intake::assignOutputs()
state.isCubeStall = false;
}
}

state.intakeState == SPIKED?candle.setAnimation(candle.Strobe):candle.clearAnimation();
prevState = state;
}

Expand Down
3 changes: 3 additions & 0 deletions src/main/include/subsystems/Drivetrain.h
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Expand Up @@ -14,6 +14,7 @@
#include "controllers/ValorFalconController.h"
#include "controllers/ValorNeoController.h"
#include "controllers/ValorPIDF.h"
#include "sensors/ValorCANdleSensor.h"

#include "AHRS.h"
#include "ctre/phoenix/sensors/WPI_Pigeon2.h"
Expand Down Expand Up @@ -285,4 +286,6 @@ class Drivetrain : public ValorSubsystem
std::shared_ptr<nt::NetworkTable> limeTable;

bool swerveNoError;

ValorCANdleSensor candle;
};
3 changes: 3 additions & 0 deletions src/main/include/subsystems/Intake.h
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Expand Up @@ -16,6 +16,7 @@
#include "subsystems/Direction.h"
#include "subsystems/Position.h"
#include "subsystems/Piece.h"
#include "sensors/ValorCANdleSensor.h"

#include <frc/smartdashboard/SendableChooser.h>
#include <frc/smartdashboard/SmartDashboard.h>
Expand Down Expand Up @@ -131,4 +132,6 @@ class Intake : public ValorSubsystem
ValorFalconController intakeMotor;

ValorCurrentSensor currentSensor;

ValorCANdleSensor candle;
};