Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpilib] Add LED pattern API for easily animating addressable LEDs (#6344)

Browse Source 
Add LEDReader and LEDWriter helper interfaces to facilitate composing simple patterns into more complex ones, e.g. LEDPattern.solid(Color.kBlue).breathe(Seconds.of(0.75)). Pattern composition relies on changing out the write behavior; for example, offsetBy increments the indexes to write to; while blink will switch between playing a base pattern and turning off all the LEDs.

Add a view class for splitting a single large buffer into smaller distinct sections, which is useful for dealing with long chained LED strips mounted on different parts of a robot. Views cannot be written directly to an LED strip (in fact, trying to do so won't even compile).

Adds some utility methods to the Color class for interpolating between two colors, and support color representations with 32-bit integers to avoid object allocations.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Sam Carlberg
2024-06-05 22:41:10 -04:00
committed by GitHub
parent 5221069bcc
commit ad18fa62ee
19 changed files with 3610 additions and 311 deletions
Download Patch File Download Diff File Expand all files Collapse all files

39
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
View File

@@ -4,15 +4,31 @@
package edu.wpi.first.wpilibj.examples.addressableled;
import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.MetersPerSecond;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.wpilibj.AddressableLED;
import edu.wpi.first.wpilibj.AddressableLEDBuffer;
import edu.wpi.first.wpilibj.LEDPattern;
import edu.wpi.first.wpilibj.TimedRobot;
public class Robot extends TimedRobot {
private AddressableLED m_led;
private AddressableLEDBuffer m_ledBuffer;
// Store what the last hue of the first pixel is
private int m_rainbowFirstPixelHue;
// Create an LED pattern that will display a rainbow across
// all hues at maximum saturation and half brightness
private final LEDPattern m_rainbow = LEDPattern.rainbow(255, 128);
// Our LED strip has a density of 120 LEDs per meter
private static final Measure<Distance> kLedSpacing = Meters.of(1 / 120.0);
// Create a new pattern that scrolls the rainbow pattern across the LED strip, moving at a speed
// of 1 meter per second.
private final LEDPattern m_scrollingRainbow =
m_rainbow.scrollAtAbsoluteSpeed(MetersPerSecond.of(1), kLedSpacing);
@Override
public void robotInit() {
@@ -33,24 +49,9 @@ public class Robot extends TimedRobot {
@Override
public void robotPeriodic() {
// Fill the buffer with a rainbow
rainbow();
// Update the buffer with the rainbow animation
m_scrollingRainbow.applyTo(m_ledBuffer);
// Set the LEDs
m_led.setData(m_ledBuffer);
}
private void rainbow() {
// For every pixel
for (var i = 0; i < m_ledBuffer.getLength(); i++) {
// Calculate the hue - hue is easier for rainbows because the color
// shape is a circle so only one value needs to precess
final var hue = (m_rainbowFirstPixelHue + (i * 180 / m_ledBuffer.getLength())) % 180;
// Set the value
m_ledBuffer.setHSV(i, hue, 255, 128);
}
// Increase by to make the rainbow "move"
m_rainbowFirstPixelHue += 3;
// Check bounds
m_rainbowFirstPixelHue %= 180;
}
}