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Updates to camera handling and swerve
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17 changes: 17 additions & 0 deletions
17
src/main/java/com/techhounds/houndutil/houndlib/TriConsumer.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| package com.techhounds.houndutil.houndlib; | ||
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| import java.util.Objects; | ||
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| @FunctionalInterface | ||
| public interface TriConsumer<A, B, C> { | ||
| void accept(A a, B b, C c); | ||
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| default TriConsumer<A, B, C> andThen(TriConsumer<? super A, ? super B, ? super C> after) { | ||
| Objects.requireNonNull(after); | ||
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| return (a, b, c) -> { | ||
| accept(a, b, c); | ||
| after.accept(a, b, c); | ||
| }; | ||
| } | ||
| } |
9 changes: 9 additions & 0 deletions
9
src/main/java/com/techhounds/houndutil/houndlib/ValueContainer.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,9 @@ | ||
| package com.techhounds.houndutil.houndlib; | ||
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| public class ValueContainer { | ||
| public int value; | ||
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| public ValueContainer(int value) { | ||
| this.value = value; | ||
| } | ||
| } |
71 changes: 71 additions & 0 deletions
71
src/main/java/com/techhounds/houndutil/houndlib/leds/Patterns.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,71 @@ | ||
| package com.techhounds.houndutil.houndlib.leds; | ||
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| import com.techhounds.houndutil.houndlib.ValueContainer; | ||
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| import edu.wpi.first.wpilibj.AddressableLEDBuffer; | ||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj.util.Color; | ||
| import edu.wpi.first.wpilibj.util.Color8Bit; | ||
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| public class Patterns { | ||
| /** | ||
| * Changes the contents of the AddressableLEDBuffer to the rainbow state. | ||
| */ | ||
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| public static Runnable rainbow(double firstIndex, double lastIndex, AddressableLEDBuffer buffer) { | ||
| ValueContainer firstPixelHue = new ValueContainer(0); | ||
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| return () -> { | ||
| for (int i = 0; i < buffer.getLength(); i++) { | ||
| // Calculate the hue - hue is easier for rainbows because the color | ||
| // shape is a circle so only one value needs to change | ||
| final var hue = (firstPixelHue.value + (i * 180 / buffer.getLength())) % 180; | ||
| // Set the value | ||
| buffer.setHSV(i, hue, 255, 255); // max brightness until adjusted later | ||
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| } | ||
| // Increase by 3 to make the rainbow "move" | ||
| firstPixelHue.value += 3; | ||
| // Check bounds | ||
| firstPixelHue.value %= 180; | ||
| }; | ||
| } | ||
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| public static Runnable solid(Color color, double firstIndex, double lastIndex, AddressableLEDBuffer buffer) { | ||
| return () -> { | ||
| for (int i = 0; i < buffer.getLength(); i++) { | ||
| buffer.setLED(i, color); | ||
| } | ||
| }; | ||
| } | ||
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| public static Runnable flash(Color color, double onDuration, double firstIndex, double lastIndex, | ||
| AddressableLEDBuffer buffer) { | ||
| return () -> { | ||
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| for (int i = 0; i < buffer.getLength(); i++) { | ||
| if (Timer.getFPGATimestamp() % (onDuration * 2) > onDuration) { | ||
| buffer.setLED(i, color); | ||
| } else { | ||
| buffer.setLED(i, Color.kBlack); | ||
| } | ||
| } | ||
| }; | ||
| } | ||
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| /** | ||
| * Changes the contents of the AddressableLEDBuffer to the TechHOUNDS state. | ||
| */ | ||
| private static void techHounds(AddressableLEDBuffer buffer) { | ||
| ValueContainer timeStep = new ValueContainer(0); | ||
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| for (int i = 0; i < buffer.getLength(); i++) { | ||
| if (((i + timeStep.value) / 8) % 2 == 0) { // shifts back and forth every 8 pixels | ||
| buffer.setHSV(i, 15, 250, 255); // gold | ||
| } else { | ||
| buffer.setHSV(i, 109, 240, 255); // blue | ||
| } | ||
| } | ||
| timeStep.value += 1; | ||
| } | ||
| } |
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