lightshow

OffSeasonBot2019/src/main/java/com/team2813/frc2019/Robot.java

@@ -9,10 +9,7 @@
 
 import com.ctre.phoenix.CANifier;
 import com.team2813.frc2019.loops.Loop;
-import com.team2813.frc2019.subsystems.Drive;
-import com.team2813.frc2019.subsystems.MainIntake;
-import com.team2813.frc2019.subsystems.Subsystem;
-import com.team2813.frc2019.subsystems.Subsystems;
+import com.team2813.frc2019.subsystems.*;
 import com.team2813.lib.config.MotorConfigs;
 import com.team2813.lib.util.CrashTracker;
 import edu.wpi.first.wpilibj.Compressor;
@@ -39,7 +36,7 @@ public class Robot extends TimedRobot {
 	private static final double MIN_DISABLED_VOLTAGE = 12.0;
 	private static boolean batteryTooLow = false;
 
-	private CANifier caNifier = new CANifier(0);
+	private static Lightshow lightshow = new Lightshow(9);
 
 	/**
 	 * This function is run when the robot is first started up and should be
@@ -50,6 +47,7 @@ public void robotInit() {
 		try {
 			CrashTracker.logRobotInit();
 			MotorConfigs.read();
+			lightshow.enable();
 			Subsystems.initializeSubsystems();
 			for (Subsystem subsystem : allSubsystems) {
 				LOOPER.addLoop(subsystem);
@@ -109,8 +107,8 @@ public void autonomousInit() {
 			// A: Green
 			// B: Red
 			// C: Blue
-			caNifier.setLEDOutput(255, CANifier.LEDChannel.LEDChannelA);
-			CrashTracker.logAutoInit();
+//			caNifier.setLEDOutput(255, CANifier.LEDChannel.LEDChannelA);
+//			CrashTracker.logAutoInit();
 			Compressor compressor = new Compressor(); // FIXME: 11/02/2019 this shouldn't need to be here
 			compressor.start();
 			MAIN_INTAKE.setMode(MainIntake.GamePiece.HATCH_PANEL);
@@ -157,6 +155,7 @@ public void teleopPeriodic() {
 		 * this calls every subsystem's controls method which
 		 * should contain any code to invoke driver controls
 		 */
+//		lightshow.test();
 		for (Subsystem subsystem : allSubsystems) {
 			subsystem.teleopControls();
 		}

OffSeasonBot2019/src/main/java/com/team2813/frc2019/subsystems/Lightshow.java

@@ -0,0 +1,62 @@
+package com.team2813.frc2019.subsystems;
+
+import com.ctre.phoenix.CANifier;
+import edu.wpi.first.wpilibj.DigitalOutput;
+import edu.wpi.first.wpilibj.PWM;
+
+public class Lightshow {
+    private DigitalOutput out;
+
+    private double output = 0;
+
+    Thread thread;
+
+    public Lightshow(int channel) {
+        this.out = new DigitalOutput(channel);
+    }
+
+    public void enable() {
+        out.enablePWM(0);
+        out.setPWMRate(4200);
+        thread = new Thread(() -> {
+            try {
+                while (true) {
+                    out.updateDutyCycle(0);
+                    System.out.println();
+                    Thread.sleep(1000);
+                    out.updateDutyCycle(.2);
+                    System.out.println(.2);
+                    Thread.sleep(1000);
+                    out.updateDutyCycle(.4);
+                    System.out.println(.4);
+                    Thread.sleep(1000);
+                    out.updateDutyCycle(.6);
+                    System.out.println(out.get());
+                    Thread.sleep(1000);
+                    out.updateDutyCycle(.8);
+                    System.out.println(.8);
+                    Thread.sleep(1000);
+                    out.updateDutyCycle(1);
+                    System.out.println(1);
+                    Thread.sleep(1000);
+                }
+            } catch (InterruptedException e) {
+                e.printStackTrace();
+            }
+        });
+
+        thread.start();
+    }
+
+    public Lightshow disable() {
+        thread.stop();
+        return this;
+    }
+
+//    public CANifier setR(int red) {
+//        caNifier.x
+//    }
+}
+
+
+// 14