Bling

docs/mkdocs/docs/library/commands/bling/noalliancewaiting.md

@@ -0,0 +1,18 @@
+# No Alliance Waiting Command
+
+A command that displays a warning animation when no alliance color has been selected. The command automatically terminates once an alliance is selected in the Driver Station.
+
+## Required Subsystems
+- [Bling Subsystem](/5152_Template/library/subsystems/bling)
+
+## Constructor Parameters
+```java
+public NoAllianceWaiting(BlingSubsystem blingSubsystem)
+```
+- `blingSubsystem`: The bling subsystem instance to control
+
+## Configuration Requirements
+None - uses predefined NO_ALLIANCE_ANIMATION from BlingConstants
+
+## Reference Documentation
+[No Alliance Waiting Command Javadoc](/5152_Template/javadoc/frc/alotobots/library/subsystems/bling/commands/package-summary.html)

docs/mkdocs/docs/library/commands/bling/settoalliancecolor.md

@@ -0,0 +1,18 @@
+# Set To Alliance Color Command
+
+A command that sets the LED colors to match the current alliance color (red or blue) selected in the Driver Station. This provides a clear visual indicator of which alliance the robot is assigned to.
+
+## Required Subsystems
+- [Bling Subsystem](/5152_Template/library/subsystems/bling)
+
+## Constructor Parameters
+```java
+public SetToAllianceColor(BlingSubsystem blingSubsystem)
+```
+- `blingSubsystem`: The bling subsystem instance to control
+
+## Configuration Requirements
+None - uses predefined RED_ALLIANCE_COLOR and BLUE_ALLIANCE_COLOR from BlingConstants
+
+## Reference Documentation
+[Set To Alliance Color Command Javadoc](/5152_Template/javadoc/frc/alotobots/library/subsystems/bling/commands/package-summary.html)

docs/mkdocs/docs/library/subsystems/bling.md

@@ -0,0 +1,29 @@
+# Bling Subsystem
+
+The Bling subsystem controls the robot's LED lighting system using the CTRE CANdle device. It provides visual feedback about robot state through different colors and animations.
+
+## Constructor
+
+```java
+public BlingSubsystem(BlingIO io)
+```
+
+- `io`: The BlingIO implementation to use (either BlingIOReal for hardware or BlingIOSim for simulation)
+
+## Commands Using This Subsystem
+
+- [No Alliance Waiting Command](/5152_Template/library/commands/bling/noalliancewaiting)
+- [Set To Alliance Color Command](/5152_Template/library/commands/bling/settoalliancecolor)
+
+## Configuration Requirements
+
+1. CANdle CAN ID must be set in Constants file
+2. LED strip configuration in BlingConstants:
+    - Number of LEDs (NUM_LEDS)
+    - LED strip type (LED_TYPE)
+    - Maximum brightness (MAX_LED_BRIGHTNESS)
+    - LED offset (LED_OFFSET)
+    - Status LED state (DISABLE_STATUS_LED)
+
+## Reference Documentation
+[Bling Subsystem Javadoc](/5152_Template/javadoc/frc/alotobots/library/subsystems/bling/package-summary.html)

docs/mkdocs/mkdocs.yml

@@ -16,12 +16,16 @@ nav:
               - Drive Facing Angle: library/commands/swerve/drivefacingangle.md
               - Drive Facing Pose: library/commands/swerve/drivefacingpose.md
               - Characterization: library/commands/swerve/characterization.md
+          - Bling:
+              - Set To Alliance Color: library/commands/bling/settoalliancecolor.md
+              - No Alliance Waiting: library/commands/bling/noalliancewaiting.md
           - Vision:
               - Object Detection:
                   - Drive Facing Best Object: library/commands/vision/objectdetection/drivefacingbestobject.md
                   - Pathfind to Best Object: library/commands/vision/objectdetection/pathfindtobestobject.md
       - Subsystems:
           - Swerve: library/subsystems/swerve.md
+          - Bling: library/subsystems/bling.md
           - Vision:
               - Object Detection: library/subsystems/vision/objectdetection.md
               - AprilTag: library/subsystems/vision/apriltag.md

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

src/main/java/frc/alotobots/Constants.java

@@ -23,7 +23,7 @@
  * (log replay from a file).
  */
 public final class Constants {
-  public static final Mode simMode = Mode.REPLAY;
+  public static final Mode simMode = Mode.SIM;
   public static final Mode currentMode = RobotBase.isReal() ? Mode.REAL : simMode;
 
   public static enum Mode {

src/main/java/frc/alotobots/RobotContainer.java

@@ -19,6 +19,12 @@
 import com.pathplanner.lib.auto.AutoBuilder;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
+import frc.alotobots.library.subsystems.bling.BlingSubsystem;
+import frc.alotobots.library.subsystems.bling.commands.NoAllianceWaiting;
+import frc.alotobots.library.subsystems.bling.commands.SetToAllianceColor;
+import frc.alotobots.library.subsystems.bling.io.BlingIO;
+import frc.alotobots.library.subsystems.bling.io.BlingIOReal;
+import frc.alotobots.library.subsystems.bling.io.BlingIOSim;
 import frc.alotobots.library.subsystems.swervedrive.ModulePosition;
 import frc.alotobots.library.subsystems.swervedrive.SwerveDriveSubsystem;
 import frc.alotobots.library.subsystems.swervedrive.commands.DefaultDrive;
@@ -49,6 +55,7 @@ public class RobotContainer {
   private final SwerveDriveSubsystem swerveDriveSubsystem;
   private final AprilTagSubsystem aprilTagSubsystem;
   private final ObjectDetectionSubsystem objectDetectionSubsystem;
+  private final BlingSubsystem blingSubsystem;
 
   // Dashboard inputs
   private final LoggedDashboardChooser<Command> autoChooser;
@@ -74,6 +81,7 @@ public RobotContainer() {
             new ObjectDetectionSubsystem(
                 swerveDriveSubsystem::getPose,
                 new ObjectDetectionIOPhotonVision(ObjectDetectionConstants.CAMERA_CONFIGS[0]));
+        blingSubsystem = new BlingSubsystem(new BlingIOReal());
         break;
 
       case SIM:
@@ -95,6 +103,7 @@ public RobotContainer() {
         // Sim support for object detection doesn't exist yet, so use a no-op
         objectDetectionSubsystem =
             new ObjectDetectionSubsystem(swerveDriveSubsystem::getPose, new ObjectDetectionIO() {});
+        blingSubsystem = new BlingSubsystem(new BlingIOSim());
         break;
 
       default:
@@ -114,6 +123,7 @@ public RobotContainer() {
                 new AprilTagIO() {});
         objectDetectionSubsystem =
             new ObjectDetectionSubsystem(swerveDriveSubsystem::getPose, new ObjectDetectionIO() {});
+        blingSubsystem = new BlingSubsystem(new BlingIO() {});
         break;
     }
 
@@ -147,6 +157,8 @@ public RobotContainer() {
   private void configureDefaultCommands() {
 
     swerveDriveSubsystem.setDefaultCommand(new DefaultDrive(swerveDriveSubsystem).getCommand());
+    blingSubsystem.setDefaultCommand(
+        new NoAllianceWaiting(blingSubsystem).andThen(new SetToAllianceColor(blingSubsystem)));
     // Add other subsystem default commands here as needed
   }
 

src/main/java/frc/alotobots/library/subsystems/bling/BlingSubsystem.java

@@ -0,0 +1,76 @@
+/*
+* ALOTOBOTS - FRC Team 5152
+  https://github.com/5152Alotobots
+* Copyright (C) 2024 ALOTOBOTS
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* Source code must be publicly available on GitHub or an alternative web accessible site
+*/
+package frc.alotobots.library.subsystems.bling;
+
+import com.ctre.phoenix.led.Animation;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.alotobots.library.subsystems.bling.io.BlingIO;
+import frc.alotobots.library.subsystems.bling.io.BlingIOInputsAutoLogged;
+import org.littletonrobotics.junction.Logger;
+
+/**
+ * Subsystem for controlling robot LED lighting effects. Manages LED animations and solid colors for
+ * visual feedback.
+ */
+public class BlingSubsystem extends SubsystemBase {
+  /** The IO interface for LED control */
+  private final BlingIO io;
+
+  /** Logged inputs for monitoring LED state */
+  private final BlingIOInputsAutoLogged inputs = new BlingIOInputsAutoLogged();
+
+  /**
+   * Creates a new BlingSubsystem.
+   *
+   * @param io The BlingIO implementation to use for LED control
+   */
+  public BlingSubsystem(BlingIO io) {
+    this.io = io;
+  }
+
+  @Override
+  public void periodic() {
+    // Update inputs
+    io.updateInputs(inputs);
+    Logger.processInputs("Bling", inputs);
+    if (this.getCurrentCommand() != null) {
+      Logger.recordOutput("Bling/CurrentCommand", this.getCurrentCommand().getName());
+    } else {
+      Logger.recordOutput("Bling/CurrentCommand", "None");
+    }
+  }
+
+  /**
+   * Sets the LEDs to display a solid color.
+   *
+   * @param color The color to display
+   */
+  public void setSolidColor(BlingIO.LoggedColor color) {
+    io.setSolidColor(color);
+  }
+
+  /**
+   * Sets the LEDs to display an animation pattern.
+   *
+   * @param animation The animation pattern to display
+   */
+  public void setAnimation(Animation animation) {
+    io.setAnimation(animation);
+  }
+
+  /** Clears all LED effects, turning off animations and solid colors. */
+  public void clear() {
+    io.clearAnimation();
+    io.clearSolidColor();
+  }
+}

src/main/java/frc/alotobots/library/subsystems/bling/commands/NoAllianceWaiting.java

@@ -0,0 +1,59 @@
+/*
+* ALOTOBOTS - FRC Team 5152
+  https://github.com/5152Alotobots
+* Copyright (C) 2024 ALOTOBOTS
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* Source code must be publicly available on GitHub or an alternative web accessible site
+*/
+package frc.alotobots.library.subsystems.bling.commands;
+
+import static frc.alotobots.library.subsystems.bling.constants.BlingConstants.Animations.NO_ALLIANCE_ANIMATION;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.alotobots.library.subsystems.bling.BlingSubsystem;
+
+/**
+ * Command that displays an animation while waiting for alliance selection. Automatically terminates
+ * once an alliance is selected.
+ */
+public class NoAllianceWaiting extends Command {
+  /** The bling subsystem to control */
+  private BlingSubsystem blingSubsystem;
+
+  /**
+   * Creates a new NoAllianceWaiting command.
+   *
+   * @param blingSubsystem The bling subsystem to use
+   */
+  public NoAllianceWaiting(BlingSubsystem blingSubsystem) {
+    this.blingSubsystem = blingSubsystem;
+    addRequirements(blingSubsystem);
+  }
+
+  @Override
+  public void initialize() {
+    blingSubsystem.setAnimation(NO_ALLIANCE_ANIMATION);
+  }
+
+  @Override
+  public boolean isFinished() {
+    // Exit once we have an alliance
+    return DriverStation.getAlliance().isPresent();
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    blingSubsystem.clear();
+  }
+
+  @Override
+  public boolean runsWhenDisabled() {
+    return true;
+  }
+}