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[wpilib] Allow LED pattern gradients to be discontinuous (#7174)

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This commit is contained in:
Sam Carlberg
2024-10-11 01:05:33 -04:00
committed by GitHub
parent 0cfff31439
commit 2085ab3d47
5 changed files with 147 additions and 35 deletions
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33
wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
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@@ -569,16 +569,35 @@ public interface LEDPattern {
};
}
/** Types of gradients. */
enum GradientType {
/**
* A continuous gradient, where the gradient wraps around to allow for seamless scrolling
* effects.
*/
kContinuous,
/**
* A discontinuous gradient, where the first pixel is set to the first color of the gradient and
* the final pixel is set to the last color of the gradient. There is no wrapping effect, so
* scrolling effects will display an obvious seam.
*/
kDiscontinuous
}
/**
* Creates a pattern that displays a non-animated gradient of colors across the entire length of
* the LED strip. The gradient wraps around so the start and end of the strip are the same color,
* which allows the gradient to be modified with a scrolling effect with no discontinuities.
* Colors are evenly distributed along the full length of the LED strip.
* the LED strip. Colors are evenly distributed along the full length of the LED strip. The
* gradient type is configured with the {@code type} parameter, allowing the gradient to be either
* continuous (no seams, good for scrolling effects) or discontinuous (a clear seam is visible,
* but the gradient applies to the full length of the LED strip without needing to use some space
* for wrapping).
*
* @param type the type of gradient (continuous or discontinuous)
* @param colors the colors to display in the gradient
* @return a motionless gradient pattern
*/
static LEDPattern gradient(Color... colors) {
static LEDPattern gradient(GradientType type, Color... colors) {
if (colors.length == 0) {
// Nothing to display
DriverStation.reportWarning("Creating a gradient with no colors!", false);
@@ -595,7 +614,11 @@ public interface LEDPattern {
return (reader, writer) -> {
int bufLen = reader.getLength();
int ledsPerSegment = bufLen / numSegments;
int ledsPerSegment =
switch (type) {
case kContinuous -> bufLen / numSegments;
case kDiscontinuous -> (bufLen - 1) / (numSegments - 1);
};
for (int led = 0; led < bufLen; led++) {
int colorIndex = (led / ledsPerSegment) % numSegments;