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Creating a branch for Pacers blue and yellow LED patterns #18

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Creating a branch for Pacers blue and yellow LED patterns #18

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29 changes: 24 additions & 5 deletions src/main/java/frc/robot/subsystems/leds/LEDModes.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,17 @@

public final class LEDModes {
private static final double k_scale = 0.5;

private static final double hexToDouble(int sixteens, int ones) {return ((double) (16 * sixteens + ones)) / 256.0;}
private static final double[] pacerBlue = {0.0, hexToDouble(2, 13), hexToDouble(6, 2)}; // #002D62
private static final double[] pacerYellow = {hexToDouble(15, 13), hexToDouble(11, 11), hexToDouble(3, 0)}; // #FDBB30

private static final void setLEDPacerBlue(AddressableLEDBuffer buffer, int i, int brightness) {
buffer.setRGB(i, (int) (pacerBlue[0] * (double) brightness), (int) (pacerBlue[1] * (double) brightness), (int) (pacerBlue[2] * (double) brightness));
}
private static final void setLEDPacerYellow(AddressableLEDBuffer buffer, int i, int brightness) {
buffer.setRGB(i, (int) (pacerYellow[0] * (double) brightness), (int) (pacerYellow[1] * (double) brightness), (int) (pacerYellow[2] * (double) brightness));
}

public static Function<Integer, Function<Integer, Function<AddressableLEDBuffer, AddressableLEDBuffer>>> setColor(
Color color) {
Expand Down Expand Up @@ -83,10 +94,14 @@ public static Function<Integer, Function<Integer, Function<AddressableLEDBuffer,
return (buffer) -> {
double chaseSpeed = 100;

int firstPixelHue = (int) ((System.currentTimeMillis() / 1000.0 * chaseSpeed) % 180);
int firstPixelBrightness = (int) ((System.currentTimeMillis() / 1000.0 * chaseSpeed) % 360);
for (int i = start; i < (start + length); i++) {
final int hue = MathUtil.clamp((firstPixelHue + (i * 180 / length)) % 180, 10, (int) (255*k_scale));
buffer.setRGB(i, hue, 0, 0);
final int brightness = (firstPixelBrightness + (i * 180 / length)) % 360 + 10;
if (brightness < 190) {
setLEDPacerBlue(buffer, i, brightness);
} else {
setLEDPacerYellow(buffer, i, brightness - 180);
}
}
return buffer;
};
Expand All @@ -99,9 +114,13 @@ public static Function<Integer, Function<Integer, Function<AddressableLEDBuffer,
return (buffer) -> {
double breatheSpeed = 205;

int r = (int) (Math.pow(Math.sin(System.currentTimeMillis() / 1000.0), 2) * breatheSpeed) + 50;
int brightness = (int) (Math.pow(Math.sin(System.currentTimeMillis() / 1000.0), 2) * breatheSpeed) + 50; // sin^2 period is 3.14 = π seconds
for (int i = start; i < (start + length); i++) {
buffer.setRGB(i, r, 0, 0);
if ((System.currentTimeMillis() / 1000.0) % (2.0 * Math.PI) < Math.PI) {
setLEDPacerBlue(buffer, i, brightness);
} else {
setLEDPacerYellow(buffer, i, brightness);
}
}
return buffer;
};
Expand Down