Add Bling Subsystem and Command

src/main/java/frc/robot/Config.java

@@ -106,8 +106,8 @@ else if (RobotBase.isSimulation()) {
    * 
    * ID 0: Competition Robot (Crescendo) (NEEDS UPDATE ON robot.conf)
    * ID 1: Simulation of Comp Robot (Crescendo in Simulation)
-   * ID 2: Poseidon (Charged Up) (NEEDS UPDATE ON robot.conf)
-   * ID 3: Clutch (Rapid React) (NEEDS UPDATE ON robot.conf)
+   * ID 2: Beetle (Test robot) (NEEDS UPDATE ON robot.conf)
+   * ID 3: Poseidon (Charged up) (NEEDS UPDATE ON robot.conf)
    **/
 
    /** ADD CONSTANTS BELOW THIS LINE */
@@ -257,6 +257,9 @@ public static final class AutoConstants {
         new TrapezoidProfile.Constraints(
             kMaxAngularSpeedRadiansPerSecond, kMaxAngularSpeedRadiansPerSecondSquared);
   }
+   public static final class BlingConstants {
+    public static int CANDLE = 15;
+ }
   public class ArmConfig {
     public static final boolean SET_INVERTED = true;
     public static final boolean setInvered = true;

src/main/java/frc/robot/commands/BlingCommand.java

@@ -0,0 +1,171 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.robot.subsystems.BlingSubsystem;
+import com.ctre.phoenix.led.FireAnimation;
+import com.ctre.phoenix.led.RainbowAnimation;
+import com.ctre.phoenix.led.RgbFadeAnimation;
+import com.ctre.phoenix.led.StrobeAnimation;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+
+public class BlingCommand extends InstantCommand {
+  public enum BlingColour {
+    DISABLED,
+    PURPLE,
+    BLUE,
+    RED,
+    YELLOW,
+    HONEYDEW,
+    RAINBOW,
+    FIRE,
+    RGBFADE,
+    WHITESTROBE,
+    REDSTROBE,
+    YELLOWSTROBE,
+    BLUESTROBE,
+    PURPLESTROBE,
+  }
+  public BlingSubsystem bling = BlingSubsystem.getINSTANCE();
+  public BlingColour blingColour;
+
+  public BlingCommand(BlingColour colour) {
+    blingColour = colour;
+
+    // Use addRequirements() here to declare subsystem dependencies.
+    if( bling != null )
+      addRequirements(bling);
+
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    if (bling != null)
+    {
+      if (blingColour != null) {
+        bling.setBrightness();
+      }
+      switch( blingColour )
+      {
+        case DISABLED:
+          bling.setDisabled();
+          break;
+        case PURPLE:
+          bling.setPurple();
+          break;
+        case BLUE:
+          bling.setBlue();
+          break;
+        case RED:
+          bling.setRed();
+          break;
+        case YELLOW:
+          bling.setYellow();
+          break;
+        case HONEYDEW:
+          bling.setHoneydew();
+          break;
+        case RAINBOW: 
+          setRainbow();
+          break;
+        case FIRE: 
+          setFire();
+          break;
+        case RGBFADE:
+          setRgbFade();
+          break;
+        case WHITESTROBE:
+          setWhiteStrobe();
+          break;
+        case REDSTROBE:
+          setRedStrobe();
+          break;
+        case YELLOWSTROBE:
+          setYellowStrobe();
+          break;
+        case BLUESTROBE:
+          setBlueStrobe();
+          break;
+        case PURPLESTROBE:
+          setPurpleStrobe();
+          break;
+        default:
+          break;
+      }
+    }
+
+    }
+
+  public void setRainbow() {
+    // create a rainbow animation:
+    // - max brightness
+    // - half speed
+    // - 64 LEDs
+    RainbowAnimation rainbowAnim = new RainbowAnimation(1, 0.01, 64);
+
+    bling.candle.animate(rainbowAnim);
+
+  }
+
+  public void setFire()
+  {
+    FireAnimation fireAnimation = new FireAnimation(1, 0.000001, 64, 0.8, 0.4);
+
+    bling.candle.animate(fireAnimation);
+  }
+
+  public void setWhiteStrobe()
+  {
+    StrobeAnimation strobeAnimation = new StrobeAnimation(255, 255, 255, 255, 0.8, 64);
+
+    bling.candle.animate(strobeAnimation);
+  }
+
+  public void setPurpleStrobe()
+  {
+    StrobeAnimation strobeAnimation = new StrobeAnimation(138, 43, 226, 127, 0.001, 64); //TODO: test all of the rgbw bling values
+
+    bling.candle.animate(strobeAnimation);
+  }
+
+  public void setRedStrobe()
+  {
+    StrobeAnimation strobeAnimation = new StrobeAnimation(255, 0, 0, 127, 0.001, 64);
+
+    bling.candle.animate(strobeAnimation);
+  }
+
+  public void setBlueStrobe()
+  {
+    StrobeAnimation strobeAnimation = new StrobeAnimation(0, 0, 255, 127, 0.001, 64);
+
+    bling.candle.animate(strobeAnimation);
+  }
+
+  public void setYellowStrobe()
+  {
+    StrobeAnimation strobeAnimation = new StrobeAnimation(255, 255, 0, 127, 0.001, 64);
+
+    bling.candle.animate(strobeAnimation);
+  }
+
+  public void setRgbFade()
+  {
+    RgbFadeAnimation rgbFadeAnimation = new RgbFadeAnimation(0.7, 0.1, 64);
+
+    bling.candle.animate(rgbFadeAnimation);
+  }
+
+  @Override
+  public boolean runsWhenDisabled() {
+    return true;
+  }
+
+}

src/main/java/frc/robot/robotcontainers/BeetleContainer.java

@@ -10,8 +10,10 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.Robot;
-import frc.robot.subsystems.DiffTalonSubsystem;
 import frc.robot.commands.ArcadeDrive;
+import frc.robot.commands.BlingCommand;
+import frc.robot.commands.BlingCommand.BlingColour;
+import frc.robot.subsystems.DiffTalonSubsystem;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -27,15 +29,17 @@ public BeetleContainer() {
     configureButtonBindings();
   }
 
-  /**
+  /**    
    * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
    * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
    * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
     CommandXboxController driver = new CommandXboxController(0);
-    CommandXboxController operator = new CommandXboxController(1);
+    CommandXboxController operator = new CommandXboxController(1); 
+
+    driver.a().onTrue(new BlingCommand(BlingColour.HONEYDEW));
 
       DiffTalonSubsystem.getInstance().setDefaultCommand(
         new ArcadeDrive(driver, XboxController.Axis.kLeftY.value, XboxController.Axis.kRightX.value));

src/main/java/frc/robot/subsystems/BlingSubsystem.java

@@ -0,0 +1,98 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.subsystems;
+import frc.robot.commands.BlingCommand;
+import frc.robot.Config;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import com.ctre.phoenix.led.CANdle;
+import com.ctre.phoenix.led.CANdleConfiguration;
+import com.ctre.phoenix.led.CANdle.LEDStripType;
+
+public class BlingSubsystem extends SubsystemBase {
+
+  public CANdle candle; 
+  public final double Brightness = 0.5;
+  private static BlingSubsystem INSTANCE = null;
+
+  /**
+   * Creates a new Bling.
+   */
+  private BlingSubsystem() {
+    if ( Config.BlingConstants.CANDLE != -1 )
+    {
+      candle = new CANdle( Config.BlingConstants.CANDLE );
+
+      CANdleConfiguration config = new CANdleConfiguration();
+      config.stripType = LEDStripType.RGB; // set the strip type to RGB
+      config.brightnessScalar = Brightness; // dim the LEDs to half brightness
+
+      candle.configAllSettings(config);
+    }
+    else
+    {
+      candle = null;
+    }    
+
+  }
+
+  public static BlingSubsystem getINSTANCE() {
+    if ( Config.BlingConstants.CANDLE == -1 )
+    {
+      INSTANCE = null;
+    }
+    else if ( INSTANCE == null )
+    {
+      INSTANCE = new BlingSubsystem();
+    }
+
+    return INSTANCE;
+  }
+
+  public void setBrightness()
+  {
+    candle.configBrightnessScalar(Brightness);
+  }
+
+  public void setDisabled()
+  {
+    candle.configBrightnessScalar(0.0);
+    candle.clearAnimation(0);
+  }
+
+  public void setPurple()
+  {
+    candle.setLEDs(138, 43, 226);
+  }
+
+  public void setBlue()
+  {
+    candle.setLEDs(0, 0, 255);
+  }
+
+  public void setRed()
+  {
+    candle.setLEDs(255, 0, 0);
+  }
+
+  public void setHoneydew()
+  {
+    candle.setLEDs(240, 255, 240);
+  }
+
+  public void setYellow()
+  {
+    candle.setLEDs(255, 255, 0);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+
+  }
+}