Merge AddressableLED subsystem

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

@@ -0,0 +1,55 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.LEDPattern;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.addressableled.AddressableLEDSubsystem;
+
+public class SetAddressableLEDPattern extends Command {
+  private final AddressableLEDSubsystem ledSystem;
+
+  /**
+   * @apiNote If this is -1, that means that this command is targeting the whole strip
+   */
+  private final int section;
+
+  private final LEDPattern pattern;
+
+  /**
+   * @param led Addressable LED subsystem to use
+   * @param pattern Pattern to apply when command run
+   * @param section Section of LED strip to apply pattern to (index into
+   *     AddressableLEDConstants.SECTIONS)
+   */
+  public SetAddressableLEDPattern(
+      AddressableLEDSubsystem ledSystem, LEDPattern pattern, int section) {
+    this.section = section;
+    this.pattern = pattern;
+    this.ledSystem = ledSystem;
+    addRequirements(ledSystem);
+  }
+
+  /**
+   * @param led Addressable LED subsystem to use
+   * @param pattern Pattern to apply when command run
+   */
+  public SetAddressableLEDPattern(AddressableLEDSubsystem ledSystem, LEDPattern pattern) {
+    section = -1;
+    this.pattern = pattern;
+    this.ledSystem = ledSystem;
+    addRequirements(ledSystem);
+  }
+
+  @Override
+  public void execute() {
+    if (section < 0) {
+      ledSystem.applyPattern(pattern);
+    } else {
+      ledSystem.applySectionedPattern(pattern, section);
+    }
+  }
+
+  @Override
+  public boolean isFinished() {
+    return true;
+  }
+}

src/main/java/frc/robot/commands/test/AddressableLEDTestCommand.java

@@ -0,0 +1,58 @@
+package frc.robot.commands.test;
+
+import static edu.wpi.first.units.Units.MetersPerSecond;
+import static edu.wpi.first.units.Units.Seconds;
+
+import edu.wpi.first.wpilibj.LEDPattern;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.addressableled.AddressableLEDConstants;
+import frc.robot.subsystems.addressableled.AddressableLEDSubsystem;
+
+public class AddressableLEDTestCommand extends Command {
+  private final AddressableLEDSubsystem ledSystem;
+  private LEDPattern currentPattern;
+  private int ticker = 0;
+  private int testCount = 0;
+
+  public AddressableLEDTestCommand(AddressableLEDSubsystem ledSystem) {
+    this.ledSystem = ledSystem;
+    addRequirements(ledSystem);
+  }
+
+  @Override
+  public void initialize() {
+    ticker = 0;
+    testCount = 0;
+    currentPattern =
+        LEDPattern.rainbow(255, 128)
+            .scrollAtAbsoluteSpeed(MetersPerSecond.of(1), AddressableLEDConstants.LED_DENSITY);
+  }
+
+  @Override
+  public void execute() {
+    if (ticker < 500) {
+      ticker++;
+    } else {
+      ticker = 0;
+      ledSystem.applySectionedPattern(LEDPattern.kOff, testCount);
+      testCount++;
+      if (testCount == AddressableLEDConstants.SECTIONS.length) {
+        currentPattern = LEDPattern.solid(Color.kLimeGreen).breathe(Seconds.of(2));
+        ledSystem.applyPattern(currentPattern);
+      } else {
+        ledSystem.applySectionedPattern(currentPattern, testCount);
+      }
+    }
+  }
+
+  @Override
+  public boolean isFinished() {
+    return testCount < (AddressableLEDConstants.SECTIONS.length + 1);
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    ledSystem.applyPattern(LEDPattern.kOff);
+  }
+}

src/main/java/frc/robot/subsystems/addressableled/AddressableLEDConstants.java

@@ -0,0 +1,24 @@
+package frc.robot.subsystems.addressableled;
+
+import static edu.wpi.first.units.Units.Meters;
+
+import edu.wpi.first.units.measure.Distance;
+
+public class AddressableLEDConstants {
+  /**
+   * @param low The lower bound of the range
+   * @param high The upper bound of the range
+   */
+  public record Range(int low, int high) {}
+
+  // TODO: Implement real values
+  public static final int LED_COUNT = 64;
+  public static final Distance LED_DENSITY = Meters.of(1.0 / LED_COUNT);
+  public static final int LED_STRIP_PORT = 0;
+
+  /**
+   * @apiNote The lower bound of the range represents the lowest index LED for this section, and the
+   *     upper bound represents the highest index LED
+   */
+  public static final Range SECTIONS[] = {new Range(0, LED_COUNT)};
+}

src/main/java/frc/robot/subsystems/addressableled/AddressableLEDSubsystem.java

@@ -0,0 +1,58 @@
+package frc.robot.subsystems.addressableled;
+
+import edu.wpi.first.wpilibj.AddressableLED;
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.AddressableLEDBufferView;
+import edu.wpi.first.wpilibj.LEDPattern;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class AddressableLEDSubsystem extends SubsystemBase {
+  private final AddressableLED led;
+  private final AddressableLEDBuffer ledBuffer;
+  private AddressableLEDBufferView ledViews[];
+  private LEDPattern[] currentPatterns;
+
+  public AddressableLEDSubsystem() {
+    // Create strip and buffer
+    led = new AddressableLED(AddressableLEDConstants.LED_STRIP_PORT);
+    ledBuffer = new AddressableLEDBuffer(AddressableLEDConstants.LED_COUNT);
+    led.setLength(AddressableLEDConstants.LED_COUNT);
+
+    // Create current pattern trackers
+    currentPatterns = new LEDPattern[AddressableLEDConstants.SECTIONS.length];
+
+    // Create section views
+    ledViews = new AddressableLEDBufferView[AddressableLEDConstants.SECTIONS.length];
+    for (int i = 0; i < ledViews.length; i++) {
+      ledViews[i] =
+          new AddressableLEDBufferView(
+              ledBuffer,
+              AddressableLEDConstants.SECTIONS[i].low(),
+              AddressableLEDConstants.SECTIONS[i].high());
+    }
+  }
+
+  // Periodically update the LED strip
+  @Override
+  public void periodic() {
+    for (int i = 0; i < ledViews.length; i++) {
+      currentPatterns[i].applyTo(ledViews[i]);
+    }
+    led.setData(ledBuffer);
+  }
+
+  // Apply a color pattern to a section of the LED strip
+  public void applySectionedPattern(LEDPattern pattern, int section) {
+    if (section < 0 || section >= ledViews.length) return;
+    pattern.applyTo(ledViews[section]);
+    currentPatterns[section] = pattern;
+  }
+
+  // Apply a color pattern to a section of the LED strip
+  public void applyPattern(LEDPattern pattern) {
+    pattern.applyTo(ledBuffer);
+    for (int i = 0; i < currentPatterns.length; i++) {
+      currentPatterns[i] = pattern;
+    }
+  }
+}