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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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37
wpilibj/src/test/java/edu/wpi/first/wpilibj/LEDPatternTest.java
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@@ -11,6 +11,8 @@ import static edu.wpi.first.units.Units.Microseconds;
import static edu.wpi.first.units.Units.Percent;
import static edu.wpi.first.units.Units.Seconds;
import static edu.wpi.first.units.Units.Value;
import static edu.wpi.first.wpilibj.LEDPattern.GradientType.kContinuous;
import static edu.wpi.first.wpilibj.LEDPattern.GradientType.kDiscontinuous;
import static edu.wpi.first.wpilibj.util.Color.kBlack;
import static edu.wpi.first.wpilibj.util.Color.kBlue;
import static edu.wpi.first.wpilibj.util.Color.kLime;
@@ -80,7 +82,7 @@ class LEDPatternTest {
@Test
void gradient0SetsToBlack() {
LEDPattern pattern = LEDPattern.gradient();
LEDPattern pattern = LEDPattern.gradient(kContinuous);
AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
for (int i = 0; i < buffer.getLength(); i++) {
buffer.setRGB(i, 127, 128, 129);
@@ -95,7 +97,7 @@ class LEDPatternTest {
@Test
void gradient1SetsToSolid() {
LEDPattern pattern = LEDPattern.gradient(kYellow);
LEDPattern pattern = LEDPattern.gradient(kContinuous, kYellow);
AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
pattern.applyTo(buffer);
@@ -106,8 +108,8 @@ class LEDPatternTest {
}
@Test
void gradient2Colors() {
LEDPattern pattern = LEDPattern.gradient(kYellow, kPurple);
void continuousGradient2Colors() {
LEDPattern pattern = LEDPattern.gradient(kContinuous, kYellow, kPurple);
AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
pattern.applyTo(buffer);
@@ -119,9 +121,21 @@ class LEDPatternTest {
assertColorEquals(kYellow, buffer.getLED(98));
}
@Test
void discontinuousGradient2Colors() {
LEDPattern pattern = LEDPattern.gradient(kDiscontinuous, kYellow, kPurple);
AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
pattern.applyTo(buffer);
assertColorEquals(kYellow, buffer.getLED(0));
assertColorEquals(Color.lerpRGB(kYellow, kPurple, 0.5), buffer.getLED(49));
assertColorEquals(kPurple, buffer.getLED(98));
}
@Test
void gradient3Colors() {
LEDPattern pattern = LEDPattern.gradient(kYellow, kPurple, kWhite);
LEDPattern pattern = LEDPattern.gradient(kContinuous, kYellow, kPurple, kWhite);
AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
pattern.applyTo(buffer);
@@ -134,6 +148,19 @@ class LEDPatternTest {
assertColorEquals(Color.lerpRGB(kWhite, kYellow, 32.0 / 33.0), buffer.getLED(98));
}
@Test
void discontinuousGradient3Colors() {
LEDPattern pattern = LEDPattern.gradient(kDiscontinuous, kYellow, kPurple, kWhite);
AddressableLEDBuffer buffer = new AddressableLEDBuffer(101);
pattern.applyTo(buffer);
assertColorEquals(kYellow, buffer.getLED(0));
assertColorEquals(Color.lerpRGB(kYellow, kPurple, 0.5), buffer.getLED(25));
assertColorEquals(kPurple, buffer.getLED(50));
assertColorEquals(Color.lerpRGB(kPurple, kWhite, 0.5), buffer.getLED(75));
assertColorEquals(kWhite, buffer.getLED(100));
}
@Test
void step0SetsToBlack() {
LEDPattern pattern = LEDPattern.steps(Map.of());