Added LED stuff

src/main/java/org/team5924/frc2025/BuildConstants.java

@@ -21,13 +21,13 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "GoldenGateRobotics2025";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 284;
-  public static final String GIT_SHA = "95991a1e70b64e70023f2056ce1dd0e9a78f855f";
-  public static final String GIT_DATE = "2025-04-05 18:55:27 EDT";
-  public static final String GIT_BRANCH = "auto_align_branching_fix";
-  public static final String BUILD_DATE = "2025-04-05 19:18:51 EDT";
-  public static final long BUILD_UNIX_TIME = 1743895131176L;
-  public static final int DIRTY = 1;
+  public static final int GIT_REVISION = 291;
+  public static final String GIT_SHA = "cf6643bd2f22632c4ca95dbeed64be17df411994";
+  public static final String GIT_DATE = "2025-04-05 20:39:13 EDT";
+  public static final String GIT_BRANCH = "LED-code";
+  public static final String BUILD_DATE = "2025-04-05 21:13:08 EDT";
+  public static final long BUILD_UNIX_TIME = 1743901988846L;
+  public static final int DIRTY = 0;
 
   private BuildConstants() {}
 }

src/main/java/org/team5924/frc2025/Constants.java

@@ -126,6 +126,9 @@ public static enum Mode {
   public static final boolean ALGAE_BRAKE = true; // Adjust value as needed
   public static final double ALGAE_REDUCTION = 1.0; // Adjust value as needed
 
+  /*Lights */
+  public static final int CANDLE_ID = 41;
+
   /* # Vision # */
   public static String APRIL_TAG_LIMELIGHT_NAME_FRONTL = "limelight-frontl";
   public static String APRIL_TAG_LIMELIGHT_NAME_FRONTR = "limelight-frontr";

src/main/java/org/team5924/frc2025/Robot.java

@@ -33,6 +33,8 @@
 import org.littletonrobotics.junction.wpilog.WPILOGReader;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 import org.team5924.frc2025.generated.TunerConstantsGamma;
+import org.team5924.frc2025.subsystems.lights.Lights;
+import org.team5924.frc2025.subsystems.lights.Lights.LEDSegment;
 import org.team5924.frc2025.util.Elastic;
 
 /**
@@ -142,7 +144,9 @@ public void disabledInit() {}
 
   /** This function is called periodically when disabled. */
   @Override
-  public void disabledPeriodic() {}
+  public void disabledPeriodic() {
+    LEDSegment.MainStrip.setFadeAnimation(Lights.red, 0.5);
+  }
 
   /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override

src/main/java/org/team5924/frc2025/RobotContainer.java

@@ -17,6 +17,7 @@
 package org.team5924.frc2025;
 
 import static edu.wpi.first.units.Units.Seconds;
+import static org.team5924.frc2025.Constants.CANDLE_ID;
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
@@ -36,6 +37,7 @@
 import org.team5924.frc2025.commands.coralInAndOut.TeleopShoot;
 import org.team5924.frc2025.commands.drive.DriveCommands;
 import org.team5924.frc2025.commands.elevator.RunElevator;
+import org.team5924.frc2025.commands.lights.SetLEDColorCommand;
 import org.team5924.frc2025.generated.TunerConstantsGamma;
 import org.team5924.frc2025.subsystems.climber.Climber;
 import org.team5924.frc2025.subsystems.climber.ClimberIO;
@@ -50,6 +52,7 @@
 import org.team5924.frc2025.subsystems.elevator.Elevator;
 import org.team5924.frc2025.subsystems.elevator.ElevatorIO;
 import org.team5924.frc2025.subsystems.elevator.ElevatorIOTalonFXGamma;
+import org.team5924.frc2025.subsystems.lights.LEDSubsystem;
 import org.team5924.frc2025.subsystems.rollers.CoralInAndOut.CoralInAndOut;
 import org.team5924.frc2025.subsystems.rollers.CoralInAndOut.CoralInAndOut.CoralState;
 import org.team5924.frc2025.subsystems.rollers.CoralInAndOut.CoralInAndOutIO;
@@ -72,6 +75,8 @@ public class RobotContainer {
   private final CoralInAndOut coralInAndOut;
   private final Elevator elevator;
   private final Vision vision;
+  //   private final Lights lights;
+  private final LEDSubsystem ledSubsystem;
 
   // Controller
   private final CommandXboxController driveController = new CommandXboxController(0);
@@ -97,6 +102,8 @@ public RobotContainer() {
         coralInAndOut = new CoralInAndOut(new CoralInAndOutIOKrakenFOC());
         elevator = new Elevator(new ElevatorIOTalonFXGamma() {});
         vision = new Vision(new VisionIOLimelight());
+        ledSubsystem = new LEDSubsystem(CANDLE_ID);
+        // lights = new Lights();
         break;
 
       case SIM:
@@ -112,6 +119,8 @@ public RobotContainer() {
         coralInAndOut = new CoralInAndOut(new CoralInAndOutIOSim());
         elevator = new Elevator(new ElevatorIO() {});
         vision = new Vision(new VisionIO() {});
+        ledSubsystem = new LEDSubsystem(CANDLE_ID);
+        // lights = new Lights();
         break;
 
       default:
@@ -127,6 +136,8 @@ public RobotContainer() {
         coralInAndOut = new CoralInAndOut(new CoralInAndOutIO() {});
         elevator = new Elevator(new ElevatorIO() {});
         vision = new Vision(new VisionIO() {});
+        ledSubsystem = new LEDSubsystem(CANDLE_ID);
+        // lights = new Lights();
         break;
     }
 
@@ -321,6 +332,12 @@ private void configureButtonBindings() {
         .pov(180)
         .or(driveController.pov(0))
         .onFalse(Commands.runOnce(() -> climber.handleNoInputState()));
+
+    // lights.defaultCommand();
+    ledSubsystem.setDefaultCommand(
+        new SetLEDColorCommand(
+            ledSubsystem, 240, 74, 0) // default: golden gate international orange
+        );
   }
 
   /**

src/main/java/org/team5924/frc2025/commands/lights/LEDStatus.java

@@ -0,0 +1,56 @@
+/*
+ * LEDStatus.java
+ */
+
+/* 
+ * Copyright (C) 2024-2025 Team 5924 - Golden Gate Robotics and/or its affiliates.
+ *
+ * This file, and the associated project, are offered under the GNU General
+ * Public License v3.0. A copy of this license can be found in LICENSE.md
+ * at the root of this project.
+ *
+ * If this file has been separated from the original project, you should have
+ * received a copy of the GNU General Public License along with it.
+ * If you did not, see <https://www.gnu.org/licenses>.
+ */
+
+package org.team5924.frc2025.commands.lights;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import org.team5924.frc2025.RobotState;
+import org.team5924.frc2025.subsystems.lights.Lights;
+
+public class LEDStatus extends Command {
+  /** Creates a new LEDstatus. */
+  private Lights leds;
+
+  double limeErrorTolerance = 1.5; // in degrees
+
+  public LEDStatus(Lights leds) {
+    this.leds = leds;
+    // addRequirements(leds);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    switch (RobotState.getInstance().getElevatorState()) {
+      case L3 -> Lights.LEDSegment.MainStrip.setColor(Lights.blue);
+      default -> Lights.LEDSegment.MainStrip.disableLEDs();
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/org/team5924/frc2025/commands/lights/SetLEDColorCommand.java

@@ -0,0 +1,43 @@
+/*
+ * SetLEDColorCommand.java
+ */
+
+/* 
+ * Copyright (C) 2024-2025 Team 5924 - Golden Gate Robotics and/or its affiliates.
+ *
+ * This file, and the associated project, are offered under the GNU General
+ * Public License v3.0. A copy of this license can be found in LICENSE.md
+ * at the root of this project.
+ *
+ * If this file has been separated from the original project, you should have
+ * received a copy of the GNU General Public License along with it.
+ * If you did not, see <https://www.gnu.org/licenses>.
+ */
+
+package org.team5924.frc2025.commands.lights;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import org.team5924.frc2025.subsystems.lights.LEDSubsystem;
+
+public class SetLEDColorCommand extends Command {
+  private final LEDSubsystem led;
+  private final int r, g, b;
+
+  public SetLEDColorCommand(LEDSubsystem led, int r, int g, int b) {
+    this.led = led;
+    this.r = r;
+    this.g = g;
+    this.b = b;
+    addRequirements(led);
+  }
+
+  @Override
+  public void initialize() {
+    led.setColor(r, g, b);
+  }
+
+  @Override
+  public boolean isFinished() {
+    return true; // run once and done
+  }
+}

src/main/java/org/team5924/frc2025/subsystems/Lights/LEDSubsystem.java

@@ -0,0 +1,37 @@
+/*
+ * LEDSubsystem.java
+ */
+
+/* 
+ * Copyright (C) 2024-2025 Team 5924 - Golden Gate Robotics and/or its affiliates.
+ *
+ * This file, and the associated project, are offered under the GNU General
+ * Public License v3.0. A copy of this license can be found in LICENSE.md
+ * at the root of this project.
+ *
+ * If this file has been separated from the original project, you should have
+ * received a copy of the GNU General Public License along with it.
+ * If you did not, see <https://www.gnu.org/licenses>.
+ */
+
+package org.team5924.frc2025.subsystems.lights;
+
+import com.ctre.phoenix.led.CANdle;
+import com.ctre.phoenix.led.CANdleConfiguration;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class  LEDSubsystem extends SubsystemBase {
+  private final CANdle candle;
+
+  public LEDSubsystem(int canId) {
+    candle = new CANdle(canId);
+
+    CANdleConfiguration config = new CANdleConfiguration();
+
+  }
+
+  public void setColor(int r, int g, int b) {
+    candle.setLEDs(r, g, b);
+  }
+}