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Better lights for robot #98

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Better lights for robot #98

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3402fb8
Added new light class
The-Arx Mar 21, 2024
63fb258
Integrated lights into intake and shooter
The-Arx Mar 21, 2024
f79ba2a
Added context ownersip and updated a few other things
The-Arx Mar 22, 2024
6db18bd
Merge branch 'main' into better-lights
The-Arx Mar 22, 2024
2ace978
fixed code
The-Arx Mar 23, 2024
f7376d2
Merge branch 'better-lights' of https://github.com/Team766/2024 into …
The-Arx Mar 23, 2024
b9152be
removed ownership check from constructor (not sure if it is necessary)
The-Arx Mar 23, 2024
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10 changes: 10 additions & 0 deletions src/main/java/com/team766/robot/reva/DriverOI.java
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Original file line number Diff line number Diff line change
Expand Up @@ -108,6 +108,10 @@ public void handleOI(Context context) {
drive.setCross();

context.releaseOwnership(drive);

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comment - what does turning off the front signify?

also, don't forget to take and release ownership of lights

context.takeOwnership(Robot.lights);
Robot.lights.turnOffFront();
context.releaseOwnership(Robot.lights);
}

// TODO: update OI with new optimization OI
Expand Down Expand Up @@ -169,6 +173,12 @@ public void handleOI(Context context) {
context.takeOwnership(drive);
drive.stopDrive();
}

if (isRotatingToSpeaker && drive.isAtRotationTarget() && Robot.shoulder.isFinished()) {
context.takeOwnership(Robot.lights);
Robot.lights.signalCanShoot();
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take and release ownership of lights

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Agree with debajit, + 1
Also, this code seems like it would make the lights flash on/off a lot while Luis is moving the robot, and then will be static once Luis stops the robot. Would it be better to make it so there is one lights sequence if the robot is in lock mode and another in the procedure if the robot has started the actual shooting procedure?

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This is what Raj asked me to implement. It turns on the light when it is ready but waits until Louis releases the button to turn it off.

context.releaseOwnership(Robot.lights);
}
}

/**
Expand Down
7 changes: 0 additions & 7 deletions src/main/java/com/team766/robot/reva/mechanisms/ForwardApriltagCamera.java
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Expand Up @@ -3,7 +3,6 @@
import com.team766.ViSIONbase.AprilTagGeneralCheckedException;
import com.team766.ViSIONbase.GrayScaleCamera;
import com.team766.framework.Mechanism;
import com.team766.robot.reva.Robot;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
Expand All @@ -29,12 +28,6 @@ public ForwardApriltagCamera() throws AprilTagGeneralCheckedException {
} else {
throw new AprilTagGeneralCheckedException("Couldn't find alliance correctly");
}

if (camera.isConnected()) {
Robot.lights.signalCameraConnected();
} else {
Robot.lights.signalCameraNotConnected();
}
}

public GrayScaleCamera getCamera() {
Expand Down
134 changes: 87 additions & 47 deletions src/main/java/com/team766/robot/reva/mechanisms/Lights.java
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There's something to be said about the use of context taking ownership using the Lights class. Theoretically, we would not need to take or release ownership of the lights. However, it does allow for a better handoff between mechanisms/oi/procedure. This could be a thing to discuss with @dejabot ; he should be able to help you with this decision, and then if you decide to implement context he (or I) can help you implement it. Some of the comments I made are assuming we are using this context based lights code, so if we are then you should probably keep them, or otherwise just disregard them.

Original file line number Diff line number Diff line change
@@ -1,74 +1,114 @@
package com.team766.robot.reva.mechanisms;

import com.ctre.phoenix.ErrorCode;
import com.ctre.phoenix.led.Animation;
import com.ctre.phoenix.led.CANdle;
import com.ctre.phoenix.led.RainbowAnimation;
import com.ctre.phoenix.led.StrobeAnimation;
import com.team766.framework.Mechanism;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import java.util.Optional;

public class Lights extends Mechanism {

CANdle m_candle = new CANdle(58);
private CANdle candle;
private static final int CANID = 2;
private double brightness;

private static final int FRONT_NUM_LEDS = 40;
private static final int FRONT_OFFSET = 8;
private static final int FRONT_SLOT = 1;

private static final int BACK_NUM_LEDS = 39;
private static final int BACK_OFFSET = 48;
private static final int BACK_SLOT = 2;

private static final Animation TOO_HIGH_ANIMATION =
new StrobeAnimation(255, 0, 0, 0, 0.00001, FRONT_NUM_LEDS, FRONT_OFFSET);
private static final Animation CAN_SHOOT_ANIMATION =
new RainbowAnimation(1, 0.1, FRONT_NUM_LEDS, false, FRONT_OFFSET);

public Lights() {
// Show that robot lights mechanism is ready
Optional<Alliance> alliance = DriverStation.getAlliance();
this(0.1);
}

public Lights(double brightness) {
candle = new CANdle(CANID);
setBrightnessNoCheck(brightness);
clear();
}

public void signalTooHigh() {
animate(TOO_HIGH_ANIMATION, FRONT_SLOT);
}

public void signalNoNoteInIntake() {
setAreaColor(0, 0, 255, FRONT_NUM_LEDS, FRONT_OFFSET, FRONT_SLOT);
}

public void signalNoteInIntake() {
setAreaColor(0, 255, 0, FRONT_NUM_LEDS, FRONT_OFFSET, FRONT_SLOT);
}

if (alliance.isPresent()) {
if (alliance.get().equals(Alliance.Blue)) {
// Blue
m_candle.setLEDs(0, 0, 100);
} else {
// Red
m_candle.setLEDs(100, 0, 0);
}
} else {
// Purple
m_candle.setLEDs(100, 0, 100);
}
public void signalCanShoot() {
animate(CAN_SHOOT_ANIMATION, FRONT_SLOT);
}

// Lime green
public boolean signalCameraConnected() {
ErrorCode e = m_candle.setLEDs(92, 250, 40);
return handleErrorCode(e);
public void turnOffFront() {
clearArea(FRONT_NUM_LEDS, FRONT_OFFSET, FRONT_SLOT);
}

// Purple
public boolean signalCameraNotConnected() {
ErrorCode e = m_candle.setLEDs(100, 0, 100);
return handleErrorCode(e);
public void signalPlayersGreen() {
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each of these signal* or turnOffFront methods should check context ownership

calling Procedures should take and release ownership as appropriate.

I can help you with this when we talk.

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Agree, +1. @dejabot can you please help make sure this gets into the codebase so it is ready before tomorrow morning?

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The check happens inside of the setAreaColor and animate methods.

candle.clearAnimation(BACK_SLOT);
setAreaColor(0, 255, 0, BACK_NUM_LEDS, BACK_OFFSET, BACK_SLOT);
}

// Coral orange
public boolean signalNoteInIntake() {
ErrorCode e = m_candle.setLEDs(255, 127, 80);
return handleErrorCode(e);
public void signalPlayersRed() {
setAreaColor(255, 0, 0, BACK_NUM_LEDS, BACK_OFFSET, BACK_SLOT);
}

// Off
public boolean turnLightsOff() {
ErrorCode e = m_candle.setLEDs(0, 0, 0);
return handleErrorCode(e);
public void signalPlayersNothing() {
setAreaColor(0, 0, 0, BACK_NUM_LEDS, BACK_OFFSET, BACK_SLOT);
}

// Blue
public boolean signalNoNoteInIntakeYet() {
ErrorCode e = m_candle.setLEDs(0, 0, 100);
return handleErrorCode(e);
private void animate(Animation animation, int slot) {
checkContextOwnership();
candle.animate(animation, slot);
}

public boolean isDoingShootingProcedure() {
ErrorCode e = m_candle.setLEDs(0, 227, 197);
return handleErrorCode(e);
private void clearArea(int count, int offset, int slot) {
setAreaColor(0, 0, 0, count, offset, slot);
}

private boolean handleErrorCode(ErrorCode e) {
if (e.equals(ErrorCode.OK)) {
return true;
}
private void setAreaColor(int r, int g, int b, int count, int offset, int slot) {
checkContextOwnership();
candle.clearAnimation(slot);
candle.setLEDs(r, g, b, 0, r, count);
}

private void setBrightnessNoCheck(double value) {
brightness = com.team766.math.Math.clamp(value, 0, 1);
candle.configBrightnessScalar(brightness);
}

public void setBrightness(double value) {
checkContextOwnership();
setBrightnessNoCheck(value);
}

public double getBrightness() {
return brightness;
}

public void changeBrightness(double change) {
setBrightness(brightness + change);
}

public void clear() {
setColor(0, 0, 0);
}

return false;
private void setColor(int r, int g, int b) {
checkContextOwnership();
candle.clearAnimation(FRONT_SLOT);
candle.clearAnimation(BACK_SLOT);
candle.setLEDs(r, g, b);
}
}
14 changes: 10 additions & 4 deletions src/main/java/com/team766/robot/reva/procedures/IntakeUntilIn.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,19 +6,25 @@

public class IntakeUntilIn extends Procedure {
public void run(Context context) {
context.takeOwnership(Robot.lights);
Robot.lights.signalNoNoteInIntake();
context.releaseOwnership(Robot.lights);

context.takeOwnership(Robot.intake);
Robot.lights.signalNoNoteInIntakeYet();
while (!Robot.intake.hasNoteInIntake()) {
Robot.intake.setIntakePowerForSensorDistance();
context.yield();
}

context.releaseOwnership(Robot.intake);

context.takeOwnership(Robot.lights);
Robot.lights.signalNoteInIntake();
context.releaseOwnership(Robot.lights);

context.waitForSeconds(2);
while (Robot.intake.hasNoteInIntake()) {
context.yield();
}

Robot.lights.turnLightsOff();
Robot.lights.turnOffFront();
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do you want to signal that there's now a note in the intake?
btw what does turn off front signify?

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That would be a good idea. I think the sample code I pushed to main didn't include this on accident. My bad.

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It did have that but was just collapsed by GitHub when reviewing I think

}
}
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