Led proto

Prototypes/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.1"
+    id "edu.wpi.first.GradleRIO" version "2023.4.2"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11
@@ -110,6 +110,6 @@ repositories {
 }
 
 // AdvantageKit docs say to include this but it breaks the build.
-//configurations.all {
-//    exclude group: "edu.wpi.first.wpilibj"
-//}
+configurations.all {
+    exclude group: "edu.wpi.first.wpilibj"
+}

Prototypes/src/main/java/frc/robot/Robot.java

@@ -4,17 +4,18 @@
 
 package frc.robot;
 
-import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import org.littletonrobotics.junction.LoggedRobot;
+import org.littletonrobotics.junction.Logger;
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
  * each mode, as described in the TimedRobot documentation. If you change the name of this class or
  * the package after creating this project, you must also update the build.gradle file in the
  * project.
  */
-public class Robot extends TimedRobot {
+public class Robot extends LoggedRobot {
   private Command m_autonomousCommand;
 
   private RobotContainer m_robotContainer;

Prototypes/src/main/java/frc/robot/RobotContainer.java

@@ -1,28 +1,32 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot;
 
 import frc.robot.Constants.OperatorConstants;
-import frc.robot.commands.Autos;
-import frc.robot.commands.ExampleCommand;
-import frc.robot.subsystems.ExampleSubsystem;
+import frc.robot.subsystems.LedSubsystem;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj.util.Color8Bit;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import edu.wpi.first.wpilibj2.command.button.Trigger;
 
 /**
  * This class is where the bulk of the robot should be declared.
  */
 public class RobotContainer {
 
   // The robot's subsystems and commands are defined here...
-  private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
+  private final LedSubsystem ledSubsystem = new LedSubsystem(0, 1, 2);
 
-  private final CommandXboxController m_driverController = new CommandXboxController(
+  private final CommandXboxController driveController = new CommandXboxController(
       OperatorConstants.DRIVE_CONTROLLER_PORT);
 
+  private final Color8Bit red = new Color8Bit(255, 0, 0);
+  private final Color8Bit green = new Color8Bit(0, 255, 0);
+  private final Color8Bit blue = new Color8Bit(0, 0, 255);
+  private final Color8Bit yellow = new Color8Bit(255, 255, 0);
+  private final Color8Bit cubeColor = new Color8Bit(170, 0, 255);
+  private final Color8Bit coneColor = new Color8Bit(255, 234, 0);
+  private final Color8Bit darkRed = new Color8Bit(128,0,0);
+
   /**
    * The container for the robot. Contains subsystems, OI devices, and commands.
    */
@@ -37,21 +41,22 @@ public void createSubsystems() {
   }
 
   public void createCommands() {
-
   }
 
   /**
    * Use this method to define your trigger->command mappings.
    */
   private void configureBindings() {
-    // Schedule `ExampleCommand` when `exampleCondition` changes to `true`
-    new Trigger(m_exampleSubsystem::exampleCondition)
-        .onTrue(new ExampleCommand(m_exampleSubsystem));
 
-    // Schedule `exampleMethodCommand` when the Xbox controller's B button is
-    // pressed,
-    // cancelling on release.
-    m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
+    driveController.b().onTrue(new InstantCommand(() -> ledSubsystem.setColor(red)));
+    driveController.a().onTrue(new InstantCommand(() -> ledSubsystem.setColor(green)));
+    driveController.x().onTrue(new InstantCommand(() -> ledSubsystem.setColor(blue)));
+    driveController.y().onTrue(new InstantCommand(() -> ledSubsystem.setColor(yellow)));
+    driveController.rightBumper().onTrue(new InstantCommand(() -> ledSubsystem.setColor(cubeColor)));
+    driveController.leftBumper().onTrue(new InstantCommand(() -> ledSubsystem.setColor(coneColor)));
+
+    driveController.povLeft().onTrue(new InstantCommand(() -> ledSubsystem.setColor(darkRed)));
+    driveController.povRight().onTrue(new InstantCommand(() -> ledSubsystem.setColor(red)));
   }
 
   /**
@@ -61,6 +66,6 @@ private void configureBindings() {
    */
   public Command getAutonomousCommand() {
     // An example command will be run in autonomous
-    return Autos.exampleAuto(m_exampleSubsystem);
+    return null;
   }
 }

Prototypes/src/main/java/frc/robot/subsystems/LedSubsystem.java

@@ -0,0 +1,35 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.DigitalOutput;
+import edu.wpi.first.wpilibj.util.Color8Bit;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+
+public class LedSubsystem extends SubsystemBase {
+
+    private final double pwmRateHz = 100.0;
+
+    private DigitalOutput red;
+    private DigitalOutput green;
+    private DigitalOutput blue;
+
+    public LedSubsystem(int redChannel, int greenChannel, int blueChannel) {
+
+        red = new DigitalOutput(redChannel);
+        red.setPWMRate(pwmRateHz);
+        red.enablePWM(0);
+
+        green = new DigitalOutput(greenChannel);
+        green.enablePWM(0);
+
+        blue = new DigitalOutput(blueChannel);
+        blue.enablePWM(0);
+    }
+
+    public void setColor(Color8Bit color) {
+
+        red.updateDutyCycle((double)color.red / 255.0);
+        green.updateDutyCycle((double)color.green / 255.0);
+        blue.updateDutyCycle((double)color.blue / 255.0);
+    } 
+}