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Add methods for getting color of an LED (#2366)

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Also fix rounding in Color.
This commit is contained in:
sciencewhiz
2020-02-18 20:40:03 -08:00
committed by GitHub
parent 60c09ea51f
commit 30ccd13b69
3 changed files with 54 additions and 3 deletions
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26
wpilibj/src/main/java/edu/wpi/first/wpilibj/AddressableLEDBuffer.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -116,4 +116,28 @@ public class AddressableLEDBuffer {
public int getLength() {
return m_buffer.length / 4;
}
/**
* Gets the color at the specified index.
*
* @param index the index to get
* @return the LED color at the specified index
*/
public Color8Bit getLED8Bit(int index) {
return new Color8Bit(m_buffer[index * 4 + 2] & 0xFF, m_buffer[index * 4 + 1] & 0xFF,
m_buffer[index * 4] & 0xFF);
}
/**
* Gets the color at the specified index.
*
* @param index the index to get
* @return the LED color at the specified index
*/
public Color getLED(int index) {
return new Color((m_buffer[index * 4 + 2] & 0xFF) / 255.0,
(m_buffer[index * 4 + 1] & 0xFF) / 255.0,
(m_buffer[index * 4] & 0xFF) / 255.0);
}
}

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java
View File

@@ -69,7 +69,7 @@ public class Color {
}
private static double roundAndClamp(double value) {
final var rounded = Math.round(value / kPrecision) * kPrecision;
final var rounded = Math.round((value + kPrecision / 2) / kPrecision) * kPrecision;
return MathUtil.clamp(rounded, 0.0, 1.0);
}