LED Panel!

components/led.py

@@ -8,6 +8,7 @@
 
 import wpilib
 from ids import PwmChannels
+from components.led_panel import LEDPanel
 
 
 MAX_BRIGHTNESS = 50 # Integer value 0-255
@@ -51,13 +52,17 @@ def with_relative_brightness(self, multiplier: float) -> Hsv:
 
 
 class LightStrip:
- def __init__(self, strip_length: int) -> None:
+ led_panel: LEDPanel
+
+ def __init__(self) -> None:
  self.leds = wpilib.AddressableLED(PwmChannels.led_strip)
- self.leds.setLength(strip_length)
- self.strip_length = strip_length
+
+ self.strip_length = (28 * 3) * 2 + (30 * 3) - 2
+ self.leds.setLength(self.strip_length)
+ self.strip_length = self.strip_length
 
  self.led_data = wpilib.AddressableLED.LEDData()
- self.strip_data = [self.led_data] * strip_length
+ self.strip_data = [self.led_data] * self.strip_length
 
  self.pattern: Pattern = Rainbow(HsvColour.MAGENTA)
  self.high_priority_pattern: Pattern | None = None
@@ -67,24 +72,31 @@ def __init__(self, strip_length: int) -> None:
 
  def no_note(self) -> None:
  self.pattern = Solid(HsvColour.OFF)
+ self.led_panel.no_note()
 
  def intake_deployed(self) -> None:
  self.pattern = Flash(HsvColour.MAGENTA)
+ self.led_panel.intake_deployed()
 
  def in_range(self) -> None:
  self.pattern = Solid(HsvColour.GREEN)
+ self.led_panel.in_range()
 
  def not_in_range(self) -> None:
  self.pattern = Solid(HsvColour.RED)
+ self.led_panel.not_in_range()
 
  def climbing_arm_extending(self) -> None:
  self.high_priority_pattern = Flash(HsvColour.YELLOW)
+ self.led_panel.climbing_arm_extending()
 
  def climbing_arm_fully_extended(self) -> None:
  self.high_priority_pattern = Solid(HsvColour.YELLOW)
+ self.led_panel.climbing_arm_fully_extended()
 
  def climbing_arm_retracted(self) -> None:
  self.high_priority_pattern = None
+ self.led_panel.climbing_arm_retracted()
 
  def morse(self) -> None:
  self.pattern = Morse(HsvColour.ORANGE)

components/led_panel.py

@@ -0,0 +1,95 @@
+import wpilib
+
+
+class LEDPanel:
+ # Key: Match number, Value: Drop Bears match number (<=15)
+ # TODO: Fill with proper values when the draw comes out
+ matches: dict[int, int] = {1: 1}
+
+ def __init__(self) -> None:
+ # Custom packet: 00 000000
+ # match state, state specific information
+ self.match_state = 0
+ self.packet = 0b01000000
+ self.panel_port = wpilib.SerialPort(
+ baudRate=9600, port=wpilib.SerialPort.Port.kUSB1, dataBits=8
+ )
+ self.set_match_id()
+
+ def send_packet(self) -> None:
+ self.panel_port.write(self.packet.to_bytes())
+
+ def set_match_state(self) -> None:
+ self.packet &= 0b00111111
+
+ if wpilib.DriverStation.isEnabled():
+ # During
+ self.packet |= 0b01 << 6
+ if self.match_state != 1:
+ self.send_packet()
+ self.match_state = 1
+ elif wpilib.DriverStation.getMatchTime() <= 0:
+ # Post match
+ self.packet |= 0b10 << 6
+ if self.match_state != 2:
+ self.send_packet()
+ self.match_state = 2
+ else:
+ # Pre match
+ self.packet |= 0b00 << 6
+ if self.match_state != 0:
+ self.send_packet()
+ self.match_state = 0
+
+ def set_match_id(self) -> None:
+ match_type = wpilib.DriverStation.getMatchType()
+ match_id = 0
+ if (
+ match_type == wpilib.DriverStation.MatchType.kQualification
+ or match_type == wpilib.DriverStation.MatchType.kElimination
+ ):
+ match_number = wpilib.DriverStation.getMatchNumber()
+ if match_number in self.matches:
+ match_id = self.matches[match_number]
+ # Can't be greater than 15
+ match_id = max(match_id, 15)
+
+ self.packet |= match_id
+ self.send_packet()
+
+ def no_note(self) -> None:
+ self.packet &= 0b11000000
+ self.send_packet()
+
+ def intake_deployed(self) -> None:
+ self.packet &= 0b11000000
+ self.packet |= 0b001
+ self.send_packet()
+
+ def in_range(self) -> None:
+ self.packet &= 0b11000000
+ self.packet |= 0b010
+ self.send_packet()
+
+ def not_in_range(self) -> None:
+ self.packet &= 0b11000000
+ self.packet |= 0b011
+ self.send_packet()
+
+ def climbing_arm_extending(self) -> None:
+ self.packet &= 0b11000000
+ self.packet |= 0b100
+ self.send_packet()
+
+ def climbing_arm_fully_extended(self) -> None:
+ self.packet &= 0b11000000
+ self.packet |= 0b101
+ self.send_packet()
+
+ def climbing_arm_retracted(self) -> None:
+ self.packet &= 0b11000000
+ self.packet |= 0b110
+ self.send_packet()
+
+ def execute(self) -> None:
+ self.set_match_state()

robot.py

@@ -12,6 +12,7 @@
 from components.intake import IntakeComponent
 from components.climber import Climber
 from components.led import LightStrip
+from components.led_panel import LEDPanel
 
 from controllers.note import NoteManager
 from controllers.intake import Intake
@@ -38,6 +39,7 @@ class MyRobot(magicbot.MagicRobot):
  intake_component: IntakeComponent
 
  status_lights: LightStrip
+ led_panel: LEDPanel
 
  max_speed = magicbot.tunable(4) # m/s
  lower_max_speed = magicbot.tunable(2) # m/s
@@ -55,9 +57,6 @@ def createObjects(self) -> None:
  self.field = wpilib.Field2d()
  wpilib.SmartDashboard.putData(self.field)
 
- # side: (28*3)*2 + front: (30*3) - 2 (R.I.P)
- self.status_lights_strip_length = (28 * 3) * 2 + (30 * 3) - 2
-
  self.vision_port_name = "ardu_cam_port"
  self.vision_port_pos = Translation3d(0.005, 0.221, 0.503)
  self.vision_port_rot = Rotation3d(
@@ -188,6 +187,7 @@ def testPeriodic(self) -> None:
  self.chassis.update_odometry()
 
  self.status_lights.execute()
+ self.led_panel.execute()
  self.vision_port.execute()
  self.vision_starboard.execute()
 
@@ -197,6 +197,7 @@ def disabledPeriodic(self) -> None:
 
  self.intake_component.maybe_reindex_deployment_encoder()
  self.status_lights.execute()
+ self.led_panel.execute()
  self.vision_port.execute()
  self.vision_starboard.execute()