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Implemented progressive LEDs on elevator and made a getter for Max El… #40

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Implemented progressive LEDs on elevator and made a getter for Max El… #40

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4 changes: 4 additions & 0 deletions src/main/java/frc/robot/subsystems/elevator/Elevator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -190,6 +190,10 @@ public void setCurrentMode(GamepieceMode mode) {
_currentMode = mode;
}

public double getElevatorMaxHeight() {
return ELEVATOR_MAX_INCHES;
}

public void populateLog(SysIdRoutineLog log) {
log.motor("elevator_primary")
.voltage(Voltage.ofBaseUnits(_inputs._elevatorMotorVoltage, Volt))
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15 changes: 13 additions & 2 deletions src/main/java/frc/robot/subsystems/leds/LEDs.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,11 @@

import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.util.Color;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.HardwareConstants;
import frc.robot.HardwareConstants.CAN;
import frc.robot.subsystems.elevator.Elevator;

import com.ctre.phoenix.led.RainbowAnimation;
import com.ctre.phoenix.led.StrobeAnimation;
Expand All @@ -20,10 +22,12 @@
public class LEDs extends SubsystemBase {

CANdle _candle = new CANdle(CAN.CANDLE_ID);
static int _numLEDs = 8;
static int _numLEDs = 60; //leds/height * currentheight
boolean _alreadyRunning = false;
LEDAnimation _currentAnimation = LEDAnimation.None;

Elevator _elevator;

public enum LEDAnimation {
None(null, null, 0),

Expand All @@ -43,7 +47,9 @@ public enum LEDAnimation {

SolidTeal(new LEDColor(0, 225, 174), null, 0),

SolidCoral(new LEDColor(255, 80, 15), null, 0);
SolidCoral(new LEDColor(255, 80, 15), null, 0),

SolidRed(new LEDColor(255, 0, 0), null, 0);

LEDColor _color;
Animation _animation;
Expand Down Expand Up @@ -81,6 +87,11 @@ public void runAnimation(LEDAnimation animation) {
_candle.clearAnimation(0);
_candle.setLEDs(0, 0, 0);
_candle.animate(animation.getAnimation());
} else if (animation == LEDAnimation.SolidRed) {
_candle.clearAnimation(0);
LEDColor color = animation.getColor();
_candle.setLEDs(color.getR(), color.getG(), color.getB(),0, 0,
(int) Math.round(_numLEDs/_elevator.getElevatorMaxHeight() * _elevator.getCurrentPosInches()));
} else if (animation.getAnimation() == null) {
LEDColor color = animation.getColor();
_candle.clearAnimation(0);
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