made LEDs for the shoot command🦟™️

src/main/java/frc/robot/Constants.java

@@ -6,11 +6,29 @@
 
 /** Add your docs here. */
 public class Constants {
+
   public static class constDrivetrain {
     public static final double SLOW_MODE_MULTIPLIER = 0.5;
     public static final double CONTROLLER_DEADZONE = 0.2;
   }
 
+  public static class constLED {
+    public static final double LED_BRIGHTNESS = 1;
+    public static final int LED_NUMBER = 192;
+    public static final int LED_STRIP_START_INDEX = 8;
+    public static final int[] CLEAR_LEDS = { 0, 0, 0 };
+    public static final int[] LED_SHOOTING = { 105, 69, 9 };
+    public static final int[] LED_PREP_SHOOTING = { 254, 212, 6 };
+    public static final int[] LED_NONE = { 2, 157, 254 };
+    public static final int[] LED_INTAKE_HOPPER = { 133, 249, 1 };
+    public static final int[] LED_INTAKE_GROUND = { 187, 1, 249 };
+    public static final int[] LED_HASGP = { 249, 1, 109 };
+    public static final int[] LED_FULL_HOPPER = { 255, 255, 255 };
+    public static final int[] LED_EJECTGP = { 3, 242, 230 };
+    public static final int[] LED_DRIVE = { 109, 11, 140 };
+
+  }
+
   public static class constIntake {
     public static final double INTAKE_EJECT_VELOCITY = -0.5;
     public static final double INTAKE_VELOCITY = 0.5;

src/main/java/frc/robot/RobotContainer.java

@@ -1,7 +1,3 @@
-// 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;
 
 import com.frcteam3255.joystick.SN_XboxController;
@@ -17,23 +13,25 @@
 import frc.robot.subsystems.Drivetrain;
 import frc.robot.subsystems.Hopper;
 import frc.robot.subsystems.Intake;
+import frc.robot.subsystems.LED;
 import frc.robot.subsystems.Shooter;
 import frc.robot.subsystems.Stager;
 
 public class RobotContainer {
   private final SN_XboxController m_driverController = new SN_XboxController(RobotMap.mapControllers.DRIVER_USB);
   private final Drivetrain subDrivetrain = new Drivetrain();
+  private final LED subLED = new LED();
   private final Intake subIntake = new Intake();
   private final Hopper subHopper = new Hopper();
   private final Shooter subShooter = new Shooter();
   private final Stager subStager = new Stager();
   private final Drive com_Drive = new Drive(subDrivetrain, m_driverController.axis_RightX,
       m_driverController.axis_LeftY, m_driverController.btn_LeftBumper);
-  private final IntakeGround com_IntakeGround = new IntakeGround(subIntake, subStager);
-  private final PrepShooter com_PrepShooter = new PrepShooter(subShooter);
-  private final Shoot com_Shoot = new Shoot(subStager, subShooter);
-  private final intakeHopper com_IntakeHopper = new intakeHopper(subHopper, subStager);
-  private final EjectShooter com_EjectShooter = new EjectShooter(subStager, subShooter);
+  private final IntakeGround com_IntakeGround = new IntakeGround(subIntake, subStager, subLED);
+  private final PrepShooter com_PrepShooter = new PrepShooter(subShooter, subLED);
+  private final Shoot com_Shoot = new Shoot(subStager, subShooter, subLED);
+  private final intakeHopper com_IntakeHopper = new intakeHopper(subHopper, subStager, subLED);
+  private final EjectShooter com_EjectShooter = new EjectShooter(subStager, subShooter, subLED);
 
   public RobotContainer() {
     subDrivetrain.setDefaultCommand(com_Drive);

src/main/java/frc/robot/RobotMap.java

@@ -41,4 +41,9 @@ public static class mapStager {
 
   }
 
+  public static class mapLED {
+    public static final int LED_CAN = 0;
+
+  }
+
 }

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

@@ -8,6 +8,7 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
+
 import frc.robot.subsystems.Drivetrain;
 
 public class Drive extends Command {
@@ -18,29 +19,33 @@ public class Drive extends Command {
   DoubleSupplier globalRotationSpeed;
   Trigger globalSlowMode;
 
-  public Drive(Drivetrain passedDrivetrain, DoubleSupplier passedForwardSpeed, DoubleSupplier passedRotationSpeed, Trigger passedSlowMode) {
+  public Drive(Drivetrain passedDrivetrain, DoubleSupplier passedForwardSpeed, DoubleSupplier passedRotationSpeed,
+      Trigger passedSlowMode) {
     // Use addRequirements() here to declare subsystem dependencies.
     globalDrivetrain = passedDrivetrain;
     globalForwardSpeed = passedForwardSpeed;
     globalRotationSpeed = passedRotationSpeed;
     globalSlowMode = passedSlowMode;
-
     addRequirements(globalDrivetrain);
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    globalDrivetrain.setDrivetrainSpeed(globalForwardSpeed.getAsDouble(), globalRotationSpeed.getAsDouble(), globalSlowMode.getAsBoolean());
+    globalDrivetrain.setDrivetrainSpeed(globalForwardSpeed.getAsDouble(), globalRotationSpeed.getAsDouble(),
+        globalSlowMode.getAsBoolean());
+
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+  }
 
   // Returns true when the command should end.
   @Override

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

@@ -6,22 +6,27 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants;
+import frc.robot.Constants.constLED;
+
 import frc.robot.subsystems.Intake;
+import frc.robot.subsystems.LED;
 
 public class EjectGP extends Command {
   /** Creates a new EjectGP. */
-
+  LED globalLED;
   Intake globalIntake;
 
-  public EjectGP(Intake subIntake) {
+  public EjectGP(Intake subIntake, LED ejectLED) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.globalIntake = subIntake;
+    globalLED = ejectLED;
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
     globalIntake.setIntakeVelocity(Constants.constIntake.INTAKE_EJECT_VELOCITY);
+    globalLED.setLEDs(constLED.LED_EJECTGP);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -32,6 +37,7 @@ public void execute() {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
+
     globalIntake.setIntakeNuetralOutput();
   }
 

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

@@ -5,6 +5,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.LED;
 import frc.robot.subsystems.Shooter;
 import frc.robot.subsystems.Stager;
 import frc.robot.Constants;
@@ -13,11 +14,13 @@ public class EjectShooter extends Command {
   /** Creates a new EjectShooter. */
   Stager globalStager;
   Shooter globalShooter;
+  LED globalLED;
 
-  public EjectShooter(Stager passedStager, Shooter passedShooter) {
+  public EjectShooter(Stager passedStager, Shooter passedShooter, LED ejectLED) {
     // Use addRequirements() here to declare subsystem dependencies.
     globalStager = passedStager;
     globalShooter = passedShooter;
+    globalLED = ejectLED;
   }
 
   // Called when the command is initially scheduled.

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

@@ -5,21 +5,25 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants.constLED;
 import frc.robot.subsystems.Hopper;
+import frc.robot.subsystems.LED;
 
 public class FullHopper extends Command {
   /** Creates a new FullHopper. */
   Hopper subHopper;
+  LED subLED;
 
-  public FullHopper(Hopper subHopper) {
+  public FullHopper(Hopper subHopper, LED fullLED) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.subHopper = subHopper;
-
+    subLED = fullLED;
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
+    subLED.setLEDs(constLED.LED_FULL_HOPPER);
   }
 
   // Called every time the scheduler runs while the command is scheduled.

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

@@ -7,21 +7,26 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Shooter;
 import frc.robot.subsystems.Stager;
+import frc.robot.Constants.constLED;
+import frc.robot.subsystems.LED;
 
 public class HasGP extends Command {
   /** Creates a new StageGP. */
   Stager globalStager;
+  LED globalLED;
   Shooter globalShooter;
 
-  public HasGP(Stager passedStager, Shooter passedShooter) {
+  public HasGP(Stager passedStager, Shooter passedShooter, LED stagerLED) {
     // Use addRequirements() here to declare subsystem dependencies.
     globalStager = passedStager;
     globalShooter = passedShooter;
+    globalLED = stagerLED;
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
+    globalLED.setLEDs(constLED.LED_HASGP);
     globalShooter.setShooterNuetralOutput();
   }
 

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

@@ -7,23 +7,28 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Stager;
 import frc.robot.Constants;
+import frc.robot.Constants.constLED;
 import frc.robot.subsystems.Intake;
+import frc.robot.subsystems.LED;
 
 public class IntakeGround extends Command {
   /** Creates a new IntakeGround. */
   Intake globalIntake;
   Stager globalStager;
+  LED globalLED;
 
-  public IntakeGround(Intake passedIntake, Stager passedStager) {
+  public IntakeGround(Intake passedIntake, Stager passedStager, LED groundIntakeLED) {
     // Use addRequirements() here to declare subsystem dependencies.
     globalIntake = passedIntake;
     globalStager = passedStager;
+    globalLED = groundIntakeLED;
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
     globalIntake.setIntakeNuetralOutput();
+    globalLED.setLEDs(constLED.LED_INTAKE_GROUND);
   }
 
   // Called every time the scheduler runs while the command is scheduled.

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

@@ -6,22 +6,27 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants;
+import frc.robot.Constants.constLED;
+import frc.robot.subsystems.LED;
 import frc.robot.subsystems.Shooter;
 
 public class PrepShooter extends Command {
   /** Creates a new PrepShooter. */
   Shooter globalShooter;
+  LED globalLED;
 
-  public PrepShooter(Shooter passedShooter) {
+  public PrepShooter(Shooter passedShooter, LED prepLED) {
     // Use addRequirements() here to declare subsystem dependencies.
     globalShooter = passedShooter;
+    globalLED = prepLED;
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
     globalShooter.setPropelMotorVelocity(Constants.constShooter.PROPEL_MOTOR_VELOCITY);
     globalShooter.setSpiralMotorVelocity(Constants.constShooter.SPIRAL_MOTOR_VELOCITY);
+    globalLED.setLEDs(constLED.LED_PREP_SHOOTING);
   }
 
   // Called every time the scheduler runs while the command is scheduled.

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

@@ -6,18 +6,22 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Stager;
+import frc.robot.Constants.constLED;
+import frc.robot.subsystems.LED;
 import frc.robot.Constants;
 import frc.robot.subsystems.Shooter;
 
 public class Shoot extends Command {
   /** Creates a new Shoot. */
   Stager globalStager;
   Shooter globalShooter;
+  LED globalLED;
 
-  public Shoot(Stager passedStager, Shooter passedShooter) {
+  public Shoot(Stager passedStager, Shooter passedShooter, LED shootLED) {
     // Use addRequirements() here to declare subsystem dependencies.
     globalStager = passedStager;
     globalShooter = passedShooter;
+    globalLED = shootLED;
   }
 
   // Called when the command is initially scheduled.
@@ -29,6 +33,7 @@ public void initialize() {
         && (globalShooter.getSpiralMotorVelocity() >= Constants.constShooter.SPIRAL_MOTOR_VELOCITY)) {
       globalStager.setStagerMotorVelocity(Constants.constStager.STAGER_MOTOR_VELOCITY);
       globalStager.setTopStagerMotorVelocity(Constants.constStager.TOP_STAGER_MOTOR_VELOCITY);
+      globalLED.setLEDs(constLED.LED_SHOOTING);
     } else {
       globalStager.setStagerMotorVelocityNuetralOutput();
     }

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

@@ -6,25 +6,30 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants;
+import frc.robot.Constants.constLED;
 import frc.robot.subsystems.Hopper;
+import frc.robot.subsystems.LED;
 import frc.robot.subsystems.Stager;
 
 public class intakeHopper extends Command {
 
   Hopper subHopper;
   Stager subStager;
+  LED subLED;
 
   /** Creates a new intakeHopper. */
-  public intakeHopper(Hopper subHopper, Stager subStager) {
+  public intakeHopper(Hopper subHopper, Stager subStager, LED intakeHopperLED) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.subHopper = subHopper;
     this.subStager = subStager;
-
+    subLED = intakeHopperLED;
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
+
+    subLED.setLEDs(constLED.LED_INTAKE_HOPPER);
     subHopper.setOrientationMotorSpeed(Constants.constHopper.HOPPER_ORIENTATION_SPEED);
   }