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R2 73 implement run animation #23

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R2 73 implement run animation #23

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0641b0c
Unfinished LEDs runAnimation - got to creating the animations.
GhostR406 Jan 17, 2026
bafb8ce
LEDs Run Animation ( 1 / 21 / 26 )
GhostR406 Jan 21, 2026
cfa4151
Merge branch 'main' into R2-73-implement-run-animation
rhit-halseysh Jan 22, 2026
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8 changes: 8 additions & 0 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,8 @@
import edu.wpi.first.wpilibj.RobotBase;
import frc.lib.W8.mechanisms.linear.LinearMechanism.LinearMechCharacteristics;
import frc.lib.W8.mechanisms.rotary.RotaryMechanism.RotaryMechCharacteristics;
import com.ctre.phoenix6.signals.RGBWColor;
import com.ctre.phoenix6.controls.*;
import frc.lib.W8.util.Device;
import frc.lib.W8.util.Device.CAN;
import frc.lib.W8.util.MechanismUtil.DistanceAngleConverter;
Expand Down Expand Up @@ -61,6 +63,12 @@ public static enum Mode {
REPLAY
}

public class LEDConstants {
public static final RainbowAnimation rainbowAnim = new RainbowAnimation(0, 2);
public static final RGBWColor colorPaleBlue = new RGBWColor(165, 180, 208, 0);
public static final RBGWColor colorWheezerBlue = new RGBWColor(24, 155, 204, 0);
}

public class FieldConstants {
/**
*     Contains various field dimensions and useful reference points. All units are in meters
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20 changes: 16 additions & 4 deletions src/main/java/frc/robot/subsystems/LEDs/LEDs.java
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Expand Up @@ -2,13 +2,25 @@

import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.lib.W8.io.lights.LightsIO;
import edu.wpi.first.wpilibj2.command.Command;
import com.ctre.phoenix6.hardware.CANdle;
import frc.robot.LEDConstants;

public class LEDs extends SubsystemBase {
private final LightsIO _io;
private final LightsIO _io;
private final CANdle _candle;

public LEDs(LightsIO io) {
_io = io;
}
public LEDs(LightsIO io) {
_io = io;
_candle = new CANdle(1, "rio");
}

public Command runAnimation() {
return this.startEnd(
() -> _candle.setControl(LEDConstants.rainbowAnim.withSlot(0).withColor(LEDConstants.colorPaleBlue)),
() -> _candle.setControl(new SolidColor(0, 3).withColor(colorWheezerBlue))
)
}

@Override
public void periodic() {}
Expand Down