LED patterns

src/main/java/frc/robot/commands/leds/FlashingLights.java

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+// 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.leds;
+
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants.LEDConstants;
+import frc.robot.subsystems.LEDs;
+
+public class FlashingLights extends Command {
+  private final Color color;
+  private final LEDs leds;
+  private Timer timer = new Timer();
+
+  private double period;
+  private boolean ledsOn = false;
+
+  /** Creates a new FlashingLights. */
+  public FlashingLights(double period, Color color, LEDs leds) {
+    this.color = color;
+    this.leds = leds;
+
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(leds);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    timer.start();
+    ledsOn = false;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if (timer.advanceIfElapsed(period)) {
+      AddressableLEDBuffer buffer = leds.getBuffer();
+      ledsOn = !ledsOn;
+      if (ledsOn) {
+        for (int i = 0; i < buffer.getLength(); i++) {
+          buffer.setLED(i, color);
+        }
+      } else {
+        for (int i = 0; i < buffer.getLength(); i++) {
+          buffer.setLED(i, LEDConstants.transparent);
+        }
+      }
+
+      leds.updateBuffer();
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    timer.stop();
+    timer.reset();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}