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Add HSV helpers to AddressableLED (#2135)

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Also change the setLED() method to setRGB() for consistency and clarity.

Add rainbow example to demonstrate HSV usage.
This commit is contained in:
Austin Shalit
2019-11-29 15:16:57 -08:00
committed by Peter Johnson
parent 5e97c81d80
commit f66ae59992
6 changed files with 202 additions and 45 deletions
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46
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/addressableled/Robot.java
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@@ -14,7 +14,8 @@ import edu.wpi.first.wpilibj.TimedRobot;
public class Robot extends TimedRobot {
private AddressableLED m_led;
private AddressableLEDBuffer m_ledBuffer;
private int m_count;
// Store what the last hue of the first pixel is
private int m_rainbowFirstPixelHue;
@Override
public void robotInit() {
@@ -22,36 +23,37 @@ public class Robot extends TimedRobot {
// Must be a PWM header, not MXP or DIO
m_led = new AddressableLED(0);
// Default to a length of 12, start empty output
// Length is expensive to set, so only set it once, then just update data
m_led.setLength(12);
// Reuse buffer
m_ledBuffer = new AddressableLEDBuffer(12);
// Default to a length of 60, start empty output
// Length is expensive to set, so only set it once, then just update data
m_ledBuffer = new AddressableLEDBuffer(60);
m_led.setLength(m_ledBuffer.getLength());
// Set the data
m_led.setData(m_ledBuffer);
m_led.start();
}
@Override
public void robotPeriodic() {
// Zero out all LEDS
for (int i = 0; i < m_ledBuffer.getLength(); i++) {
m_ledBuffer.setLED(i, 0, 0, 0);
}
// Set 1 single LED to red
m_ledBuffer.setLED(m_count, 50, 0, 0);
// Continue moving LED
m_count++;
if (m_count >= 12) {
m_count = 0;
}
// Buffer must be written to update.
// Fill the buffer with a rainbow
rainbow();
// 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;
}
}