Add blinky code

README.md

@@ -1,7 +1,36 @@
 # Java-Template
-[![CI](https://github.com/Frc5572/FRC2023/actions/workflows/main.yml/badge.svg)](https://github.com/Frc5572/FRC2023/actions/workflows/main.yml) [![Java Docs](https://img.shields.io/badge/docs-20XX-blue)](https://frc5572.github.io/Java-Template/)
 
+[![CI](https://github.com/Frc5572/FRC2023/actions/workflows/main.yml/badge.svg)](https://github.com/Frc5572/FRC2023/actions/workflows/main.yml) [![Java Docs](https://img.shields.io/badge/docs-20XX-blue)](https://frc5572.github.io/Java-Template/)
 
 Template repo for Java template
 
-Good examples can be found https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples
+Good examples can be found <https://github.com/wpilibsuite/allwpilib/tree/main/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples>
+
+# Subsystems
+
+## Drive Train
+
+Port 7- motor  bl Right VictorSP
+Port 6 - motor fl Right VictorSP
+Port 5 -motor fr Right VictorSP
+Port 4 - motor br Right VictorSP
+Drive forward
+Drive back
+turn left
+turn right
+
+## Intake
+
+~Right VictorSP intake motor (ID: 2)~
+~Left VictorSP intake motor (ID: 1)~
+~Intake~
+Outake
+
+## LEDS
+
+PWM Port 9
+80 LEDS
+
+Red - Red Alliance
+Blue - Blue alliance
+Green - intaking

build.gradle

@@ -93,7 +93,7 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
-    annotationProcessor 'com.github.Frc5572:RobotTools:v1.1.1'
+    // annotationProcessor 'com.github.Frc5572:RobotTools:v1.1.1'
 
     implementation 'org.apache.httpcomponents:httpclient:4.5.14'
     implementation 'org.apache.httpcomponents:httpmime:4.5.14'

networktables.json

@@ -0,0 +1 @@
+[]

simgui-ds.json

@@ -0,0 +1,98 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,31 @@
+{
+  "HALProvider": {
+    "Addressable LEDs": {
+      "0": {
+        "columns": 4
+      },
+      "window": {
+        "visible": true
+      }
+    },
+    "DIO": {
+      "window": {
+        "visible": true
+      }
+    },
+    "Other Devices": {
+      "window": {
+        "visible": false
+      }
+    }
+  },
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Choose Auto: ": "String Chooser"
+    }
+  },
+  "NetworkTables Info": {
+    "visible": true
+  }
+}

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

@@ -102,10 +102,16 @@
      * diagnostics that you want ran during disabled, autonomous, teleoperated and test.
      *
      * <p>
+     *
+     *
+     *
+     *
      * This runs after the mode specific periodic functions, but before LiveWindow and
      * SmartDashboard integrated updating.
      */
 
+
+
     @Override
     public void robotPeriodic() {
         // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled

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

@@ -9,9 +9,8 @@
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.Robot.RobotRunType;
-import frc.robot.subsystems.drive.Drivetrain;
-import frc.robot.subsystems.drive.DrivetrainIO;
-import frc.robot.subsystems.drive.DrivetrainReal;
+import frc.robot.subsystems.Intake;
+import frc.robot.subsystems.LEDs;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -22,30 +21,22 @@
 public class RobotContainer {
     /* Controllers */
     private final CommandXboxController driver = new CommandXboxController(Constants.driverID);
-    private final CommandXboxController operator = new CommandXboxController(Constants.operatorID);
 
     // Initialize AutoChooser Sendable
     private final SendableChooser<String> autoChooser = new SendableChooser<>();
 
     /* Subsystems */
-    private Drivetrain drivetrain;
+    Intake intake = new Intake();
+    LEDs leds = new LEDs(9, 60);
 
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
     public RobotContainer(RobotRunType runtimeType) {
         SmartDashboard.putData("Choose Auto: ", autoChooser);
         autoChooser.setDefaultOption("Wait 1 Second", "wait");
-        switch (runtimeType) {
-            case kReal:
-                drivetrain = new Drivetrain(new DrivetrainReal());
-                break;
-            case kSimulation:
-                // drivetrain = new Drivetrain(new DrivetrainSim() {});
-                break;
-            default:
-                drivetrain = new Drivetrain(new DrivetrainIO() {});
-        }
+
+        leds.setDefaultCommand(leds.setAllianceColor().ignoringDisable(true));
         // Configure the button bindings
         configureButtonBindings();
     }
@@ -56,7 +47,11 @@ public RobotContainer(RobotRunType runtimeType) {
      * ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a
      * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
      */
-    private void configureButtonBindings() {}
+    private void configureButtonBindings() {
+
+        driver.a().whileTrue(intake.intakeCommand());
+
+    }
 
     /**
      * Gets the user's selected autonomous command.

src/main/java/frc/robot/commands/IntakeCommand.java

@@ -0,0 +1,28 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Intake;
+
+public class IntakeCommand extends Command {
+
+    Intake intake;
+
+    public IntakeCommand(Intake intake) {
+        this.intake = intake;
+    }
+
+    @Override
+    public void execute() {
+        intake.intake();
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        intake.stop();
+    }
+
+    @Override
+    public boolean isFinished() {
+        return false; // intake.beambrake.get();
+    }
+}

src/main/java/frc/robot/subsystems/Intake.java

@@ -0,0 +1,41 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Intake extends SubsystemBase {
+
+    VictorSP intakeMotor1 = new VictorSP(1);
+    VictorSP intakeMotor2 = new VictorSP(2);
+
+    public DigitalInput touchSensor = new DigitalInput(1);
+
+    public Intake() {
+        intakeMotor2.setInverted(true);
+        intakeMotor1.addFollower(intakeMotor2);
+    }
+
+    public void setPower(double power) {
+        intakeMotor1.set(power);
+    }
+
+    public void intake() {
+        setPower(-0.7);
+    }
+
+    public void outtake() {
+        setPower(0.7);
+    }
+
+    public void stop() {
+        setPower(0);
+    }
+
+    public Command intakeCommand() {
+        return Commands.runEnd(this::intake, this::stop, this); // .until(() -> beambrake.get());
+    }
+
+}

src/main/java/frc/robot/subsystems/LEDs.java

@@ -0,0 +1,45 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.AddressableLED;
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.util.Color;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class LEDs extends SubsystemBase {
+
+    AddressableLED leds;
+    AddressableLEDBuffer buffer;
+
+    public LEDs(int portNum, int length) {
+        this.leds = new AddressableLED(portNum);
+        this.buffer = new AddressableLEDBuffer(length);
+        leds.setLength(buffer.getLength());
+        leds.setData(buffer);
+        leds.start();
+    }
+
+    public void setColor(Color color) {
+        for (var i = 0; i < buffer.getLength(); i++) {
+            buffer.setLED(i, color);
+        }
+        leds.setData(buffer);
+    }
+
+    public Command setAllianceColor() {
+        return Commands.run(() -> {
+            Color color = Color.kYellow;
+            if (DriverStation.getAlliance().isPresent()) {
+                if (DriverStation.getAlliance().get() == Alliance.Red) {
+                    color = Color.kRed;
+                } else {
+                    color = Color.kBlue;
+                }
+            }
+            setColor(color);
+        }, this);
+    }
+}