Led Grouping v4

src/main/java/frc/kelrotlib/leds/Led.java

@@ -3,8 +3,6 @@
 import static edu.wpi.first.units.Units.MetersPerSecond;
 import static edu.wpi.first.units.Units.Seconds;
 
-import java.util.HashMap;
-
 import edu.wpi.first.wpilibj.AddressableLED;
 import edu.wpi.first.wpilibj.AddressableLEDBuffer;
 import edu.wpi.first.wpilibj.AddressableLEDBufferView;
@@ -17,78 +15,84 @@
 public class Led extends SubsystemBase{ //a Java inheritance example
     private AddressableLED m_led;
     private AddressableLEDBuffer m_buffer;
-    private HashMap<Integer, AddressableLEDBufferView> m_groupList;
-    private HashMap<Integer, LEDPattern> m_patternList;
-    private LEDPattern k_defaultPattern = LEDPattern.solid(Color.kBlack);
+    private AddressableLEDBufferView[] m_groupList;
+    private LEDPattern[] m_patternList;
+
+    private LEDPattern k_defaultPattern;
 
-    public Led() {
+    public Led(int[][] ledGroups) {
         m_led = new AddressableLED(LedConstants.kLedPort); //every variable you might change later (ports, length etc.) should be added to Constants.java*
         m_buffer = new AddressableLEDBuffer(LedConstants.kLedLength); // * this way every port and important variable is in one place.
         m_led.setLength(LedConstants.kLedLength); //setting the length takes a lot of load so do it only one time when possible
         m_led.start();
 
-        m_groupList = new HashMap<Integer, AddressableLEDBufferView>(); //I decided to use Integers for the keys as it is much more straight-forward, in future uses the keys can be String's for more complicated group identification needs.
-        m_patternList = new HashMap<Integer, LEDPattern>(); //For this version of grouping we need to store previous patterns for each group
+        k_defaultPattern = LEDPattern.solid(Color.kBlack);
+
+        m_groupList = new AddressableLEDBufferView[ledGroups.length]; //create a new groupList with the same length as the ledGroups array
+        m_patternList = new LEDPattern[ledGroups.length]; //create a new patternList with the same length as the ledGroups array
+        for (int i = 0; i < ledGroups.length; i++) {
+            createGroup(ledGroups[i][0], ledGroups[i][1], i);
+        }
 
         setDefaultCommand(runPattern(k_defaultPattern).withName("Off")); //set all leds to off/black on start
     }
 
-    public void createGroup(int startingIndex, int endingIndex, Integer groupID) { //infinite amount of groups creatable, without complicating the code
+    public void createGroup(int startingIndex, int endingIndex, int groupID) {
         AddressableLEDBufferView group = m_buffer.createView(startingIndex, endingIndex); //create new group(view)
-        m_groupList.put(groupID, group);
-        m_patternList.put(groupID, k_defaultPattern); //initially set the defaultPattern, so the runPattern command doesn't break
+        m_groupList[groupID] = group; //add the group to the groupList
+        m_patternList[groupID] = k_defaultPattern; //add the default pattern to the patternList
     }
 
-    public void setSolidColor(Color color, Integer[] groupIDs){
+    public void setSolidColor(Color color, int[] groupIDs){
         LEDPattern solidColorPattern = LEDPattern.solid(color);
         for (int i = 0; i < groupIDs.length; i++) { //update the latest pattern for every LED group given
-            m_patternList.replace(groupIDs[i], solidColorPattern); //I love hashmap it is just so cool
+            m_patternList[groupIDs[i]] = solidColorPattern; //replace the pattern for the groupID with the new solid color pattern
         }
-        runPattern();
+        runPattern().schedule();
     }
 
-    public void setBlinkColor(Color color, double interval, Integer[] groupIDs){
+    public void setBlinkColor(Color color, double interval, int[] groupIDs){
         LEDPattern base = LEDPattern.solid(color);
         LEDPattern blinkPattern = base.blink(Seconds.of(interval)); //synchronised blink, wpilib also has support for asynchronised blink
         for (int i = 0; i < groupIDs.length; i++) {
-            m_patternList.replace(groupIDs[i], blinkPattern);
+            m_patternList[groupIDs[i]] =  blinkPattern;
         }
-        runPattern();
+        runPattern().schedule();
     }
 
-    public void rainbow(Integer[] groupIDs){
+    public void rainbow(int[] groupIDs){
         LEDPattern rainbow = LEDPattern.rainbow(255, 128); //all hues at maximum saturation and *half* brightness
         LEDPattern scrollingRainbow = rainbow.scrollAtAbsoluteSpeed(MetersPerSecond.of(1), LedConstants.kLedSpacing); //moves/scrolls the effect at a speed of 1 meter per second
         for (int i = 0; i < groupIDs.length; i++) {
-            m_patternList.replace(groupIDs[i], scrollingRainbow);
+            m_patternList[groupIDs[i]] = scrollingRainbow;
         }
-        runPattern();
+        runPattern().schedule();
     }
 
     public void turnOff(){
-        runPattern(k_defaultPattern);
+        setSolidColor(Color.kBlack, new int[] {0, 1, 2}); //turn off all LEDs by setting them to black
     }
 
-    private Command runPattern(){  //A command is used as it doesn't allow actions to run simultaneously, for this usage it is crucial, because we need to stop the previous patterns and start the new ones.
+    public Command runPattern(){  //A command is used as it doesn't allow actions to run simultaneously, for this usage it is crucial, because we need to stop the previous patterns and start the new ones.
         return run(() -> {
-            for (Integer i : m_groupList.keySet()) { //parsing through every key in the groupList HashMap
-                m_patternList.get(i).applyTo(m_groupList.get(i)); //getting every setted pattern and applying it to the ID'd LED Group
+            for (int i = 0; i < m_groupList.length; i++) {
+                m_patternList[i].applyTo(m_groupList[i]); //apply the pattern to the group
             }
-        });
+        }).ignoringDisable(true);
     }
 
-    private Command runPattern(LEDPattern pattern) { //might get removed later.
+    private Command runPattern(LEDPattern pattern) {
         return run(() -> {
             pattern.applyTo(m_buffer);
-        });
+        }).ignoringDisable(true);
     }
 
     @Override
-    public void periodic() { //update the data every 20ms
+    public void periodic() { 
         m_led.setData(m_buffer);
     }
 
     @Override
     public void simulationPeriodic() {
     }
-}
+}

src/main/java/frc/robot/Constants.java

@@ -12,7 +12,13 @@ public final class Constants {
   public static class LedConstants {
     public static final int kLedPort = 6; //PWM port on RoborIO
     public static final int kLedLength = 60; //led count
-    public static final Distance kLedSpacing = Meters.of(1/ 60.0); // density of 120 LEDs per meter
+    public static final Distance kLedSpacing = Meters.of(1/ 60.0); // density of 60 LEDs per meter
+    public static final int[][] kledGroups = {
+      new int[] {0,19}, //group 0
+      new int[] {20,39}, // group 1
+      new int[] {40,59} // group 2
+    };
+
   }
 
 }

src/main/java/frc/robot/RobotContainer.java

@@ -4,24 +4,25 @@
 
 package frc.robot;
 
+import frc.robot.Constants.LedConstants;
 import frc.robot.subsystems.LedSubsystem;
 import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.Command;
 public class RobotContainer {
-  private final LedSubsystem m_led = new LedSubsystem();
+  private final LedSubsystem m_led = new LedSubsystem(LedConstants.kledGroups);
 
   public RobotContainer() {
-    m_led.createGroup(0, 29, 1); //indexing: in a 60 led strip, first LED is index 0 and the last led is index 59
-    m_led.createGroup(30, 59, 2);
-
-    m_led.setSolidColor(Color.kFirstBlue, new Integer[] {1,2}); //The library Color includes many color presets, but it is also possible to use RGB values to create "Color"s
-
+    m_led.setBlinkColor(Color.kRed, 3, new int[]{0,1,2});
     configureBindings();
   }
 
   private void configureBindings() {
   }
 
+  public LedSubsystem getLedSubsystem() {
+    return m_led;
+  }
+
   public Command getAutonomousCommand() {
     return null;
   }

src/main/java/frc/robot/subsystems/LedSubsystem.java

@@ -6,8 +6,7 @@ public class LedSubsystem extends Led {
     // Inherits all methods and properties from the KelrotLib Led class
     // You can add additional methods or override existing ones if needed
 
-    public LedSubsystem() {
-        super(); // Call the constructor of the parent class
-        // Additional initialization if necessary
+    public LedSubsystem(int[][] ledGroups) {
+        super(ledGroups);
     }
 }

vendordeps/AdvantageKit.json

@@ -0,0 +1,35 @@
+{
+  "fileName": "AdvantageKit.json",
+  "name": "AdvantageKit",
+  "version": "4.1.2",
+  "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
+  "frcYear": "2025",
+  "mavenUrls": [
+    "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"
+  ],
+  "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
+  "javaDependencies": [
+    {
+      "groupId": "org.littletonrobotics.akit",
+      "artifactId": "akit-java",
+      "version": "4.1.2"
+    }
+  ],
+  "jniDependencies": [
+    {
+      "groupId": "org.littletonrobotics.akit",
+      "artifactId": "akit-wpilibio",
+      "version": "4.1.2",
+      "skipInvalidPlatforms": false,
+      "isJar": false,
+      "validPlatforms": [
+        "linuxathena",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal",
+        "windowsx86-64"
+      ]
+    }
+  ],
+  "cppDependencies": []
+}

vendordeps/PathplannerLib.json

@@ -0,0 +1,38 @@
+{
+  "fileName": "PathplannerLib.json",
+  "name": "PathplannerLib",
+  "version": "2025.2.6",
+  "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+  "frcYear": "2025",
+  "mavenUrls": [
+    "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+  ],
+  "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+  "javaDependencies": [
+    {
+      "groupId": "com.pathplanner.lib",
+      "artifactId": "PathplannerLib-java",
+      "version": "2025.2.6"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "groupId": "com.pathplanner.lib",
+      "artifactId": "PathplannerLib-cpp",
+      "version": "2025.2.6",
+      "libName": "PathplannerLib",
+      "headerClassifier": "headers",
+      "sharedLibrary": false,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal",
+        "linuxathena",
+        "linuxarm32",
+        "linuxarm64"
+      ]
+    }
+  ]
+}