feat: Add initial robot structure with AdvantageKit, battery monitoring and a comprehensive LED system.

Author: recepsirin0

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

@@ -13,6 +13,9 @@
 
 package frc.robot;
 
+import static edu.wpi.first.units.Units.Meters;
+
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.wpilibj.RobotBase;
 
 /**
@@ -24,6 +27,12 @@ public final class Constants {
     public static final Mode currentMode = RobotBase.isReal() ? Mode.REAL : simMode;
     public static final int PDH_ID = 1;
 
+    public static class LedConstants {
+        public static final int kLedPort = 9;
+        public static final int kLedLength = 60;
+        public static final Distance kLedSpacing = Meters.of(0.05);
+    }
+
     public static enum Mode {
         /** Running on a real robot. */
         REAL,

src/main/java/frc/robot/Robot.java

@@ -16,7 +16,6 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc.robot.util.battery.BatteryUtils;
-
 import org.littletonrobotics.junction.LogFileUtil;
 import org.littletonrobotics.junction.LoggedRobot;
 import org.littletonrobotics.junction.Logger;
@@ -111,13 +110,11 @@ public void robotPeriodic() {
 
     /** This function is called once when the robot is disabled. */
     @Override
-    public void disabledInit() {
-    }
+    public void disabledInit() {}
 
     /** This function is called periodically when disabled. */
     @Override
-    public void disabledPeriodic() {
-    }
+    public void disabledPeriodic() {}
 
     /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
     @Override

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

@@ -1,17 +1,14 @@
 package frc.robot.subsystems;
 
+import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.util.motors.MotorIO.Motor;
-import frc.robot.util.motors.controllers.SparkBaseController;
+import frc.robot.util.led.Led;
+import frc.robot.util.led.patterns.LedPattern;
 
 public class exampleSubsystem extends SubsystemBase {
 
-    private final SparkBaseController motor;
-
-    public exampleSubsystem(Motor motor) {
-
-        this.motor = new SparkBaseController(motor);
-        
+    public exampleSubsystem(Led led) {
+        led.setAnimation(
+                new LedPattern.ColorFlow(Color.kAliceBlue, LedPattern.ColorFlow.Direction.FORWARD, 1.0), 0, 11);
     }
-
 }

src/main/java/frc/robot/util/DashboardTrigger.java

@@ -1,95 +1,72 @@
 package frc.robot.util;
 
-
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 
-
 /**
-* AutoResetDashboardTrigger
-* -------------------------
-* A dashboard-backed one-shot trigger designed to behave like
-* a gamepad "onTrue" button.
-*
-* Behavior:
-* - Exposes a Shuffleboard Toggle Button
-* - Detects a FALSE -> TRUE transition (rising edge)
-* - Fires TRUE for exactly one scheduler loop
-* - Automatically resets the dashboard value back to FALSE
-*
-* Intended use cases:
-* - Single-action commands (reset, zeroing, shoot-once, test actions)
-* - Debug and pit utilities where holding a button is unsafe
-*
-* Not intended for:
-* - whileTrue / continuous commands
-* - toggle or latch-style behaviors
-*/
+ * AutoResetDashboardTrigger ------------------------- A dashboard-backed one-shot trigger designed to behave like a
+ * gamepad "onTrue" button.
+ *
+ * <p>Behavior: - Exposes a Shuffleboard Toggle Button - Detects a FALSE -> TRUE transition (rising edge) - Fires TRUE
+ * for exactly one scheduler loop - Automatically resets the dashboard value back to FALSE
+ *
+ * <p>Intended use cases: - Single-action commands (reset, zeroing, shoot-once, test actions) - Debug and pit utilities
+ * where holding a button is unsafe
+ *
+ * <p>Not intended for: - whileTrue / continuous commands - toggle or latch-style behaviors
+ */
 public final class DashboardTrigger {
 
-
-/** NetworkTables-backed boolean entry shown on Shuffleboard */
-private final GenericEntry buttonEntry;
-
-
-/** Cached previous value for edge detection */
-private boolean previousValue = false;
-
-
-/**
-* Creates an auto-resetting dashboard trigger.
-*
-* @param tabName Shuffleboard tab name
-* @param buttonName Label displayed on the dashboard
-*/
-public DashboardTrigger(String tabName, String buttonName) {
-ShuffleboardTab tab = Shuffleboard.getTab(tabName);
-
-
-this.buttonEntry = tab.add(buttonName, false)
-.withWidget(BuiltInWidgets.kToggleButton)
-.getEntry();
-}
-
-
-/**
-* Returns a WPILib Trigger that fires exactly once
-* when the dashboard button is pressed.
-*
-* @return one-shot Trigger (rising-edge based)
-*/
-public Trigger trigger() {
-return new Trigger(() -> {
-boolean currentValue = buttonEntry.getBoolean(false);
-
-
-// Rising edge detection
-if (currentValue && !previousValue) {
-buttonEntry.setBoolean(false); // auto-reset immediately
-previousValue = true;
-return true;
+    /** NetworkTables-backed boolean entry shown on Shuffleboard */
+    private final GenericEntry buttonEntry;
+
+    /** Cached previous value for edge detection */
+    private boolean previousValue = false;
+
+    /**
+     * Creates an auto-resetting dashboard trigger.
+     *
+     * @param tabName Shuffleboard tab name
+     * @param buttonName Label displayed on the dashboard
+     */
+    public DashboardTrigger(String tabName, String buttonName) {
+        ShuffleboardTab tab = Shuffleboard.getTab(tabName);
+
+        this.buttonEntry = tab.add(buttonName, false)
+                .withWidget(BuiltInWidgets.kToggleButton)
+                .getEntry();
+    }
+
+    /**
+     * Returns a WPILib Trigger that fires exactly once when the dashboard button is pressed.
+     *
+     * @return one-shot Trigger (rising-edge based)
+     */
+    public Trigger trigger() {
+        return new Trigger(() -> {
+            boolean currentValue = buttonEntry.getBoolean(false);
+
+            // Rising edge detection
+            if (currentValue && !previousValue) {
+                buttonEntry.setBoolean(false); // auto-reset immediately
+                previousValue = true;
+                return true;
+            }
+
+            previousValue = currentValue;
+            return false;
+        });
+    }
+
+    /** Programmatically fires the trigger once. Useful for tests or internal control logic. */
+    public void fireOnce() {
+        buttonEntry.setBoolean(true);
+    }
 }
 
-
-previousValue = currentValue;
-return false;
-});
-}
-
-
-/**
-* Programmatically fires the trigger once.
-* Useful for tests or internal control logic.
-*/
-public void fireOnce() {
-buttonEntry.setBoolean(true);
-}
-}
-
-
 /*
 ========================
 Example usage (RobotContainer)
@@ -106,4 +83,4 @@ Example usage (RobotContainer)
 
 // Designed for onTrue only
 // whileTrue / toggle usage is intentionally unsupported
-*/
+*/

src/main/java/frc/robot/util/battery/BatteryMonitor.java

@@ -1,12 +1,11 @@
 package frc.robot.util.battery;
 
-import org.littletonrobotics.junction.networktables.LoggedNetworkBoolean;
-import org.littletonrobotics.junction.networktables.LoggedNetworkNumber;
-import org.littletonrobotics.junction.networktables.LoggedNetworkString;
-
 import edu.wpi.first.math.filter.LinearFilter;
+import edu.wpi.first.wpilibj.Alert;
+import edu.wpi.first.wpilibj.Alert.AlertType;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.Command;
+import org.littletonrobotics.junction.networktables.LoggedNetworkBoolean;
 
 public class BatteryMonitor extends Command {
 
@@ -16,13 +15,13 @@ public class BatteryMonitor extends Command {
 
     private final LinearFilter filter;
     private final LoggedNetworkBoolean lowBattery;
-    private final LoggedNetworkNumber voltage;
+    private final Alert alert;
     private double avgVoltage;
 
     public BatteryMonitor() {
         filter = LinearFilter.movingAverage(SAMPLE_COUNT);
         lowBattery = new LoggedNetworkBoolean(NT_TOPIC + "Low");
-        voltage = new LoggedNetworkNumber(NT_TOPIC + "Voltage");
+        alert = new Alert("Battery is too low for the match", AlertType.kWarning);
 
         avgVoltage = BatteryUtils.getCurrentVoltage();
     }
@@ -42,9 +41,11 @@ public void execute() {
 
         if (isLow && !DriverStation.isEnabled()) {
             lowBattery.set(true);
-            voltage.set(avgVoltage);
+            alert.setText(String.format("Battery is too low for the match : %2fV", avgVoltage));
+            alert.set(true);
         } else {
             lowBattery.set(false);
+            alert.set(false);
         }
     }
 }

src/main/java/frc/robot/util/battery/BatteryUtils.java

@@ -1,6 +1,5 @@
 package frc.robot.util.battery;
 
-import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
 import edu.wpi.first.wpilibj.RobotController;
@@ -9,24 +8,23 @@
 
 public class BatteryUtils {
 
-	public static final double DEFAULT_VOLTAGE = 12.35;
+    public static final double DEFAULT_VOLTAGE = 12.35;
 
-	private static final PowerDistribution powerDistribution = new PowerDistribution(Constants.PDH_ID, ModuleType.kRev);
+    private static final PowerDistribution powerDistribution = new PowerDistribution(Constants.PDH_ID, ModuleType.kRev);
 
-	private static final Command monitor = new BatteryMonitor().ignoringDisable(true);
+    private static final Command monitor = new BatteryMonitor().ignoringDisable(true);
 
-	public static double getTotalCurrent() {
-		return powerDistribution.getTotalCurrent();
-	}
+    public static double getTotalCurrent() {
+        return powerDistribution.getTotalCurrent();
+    }
 
-	public static double getCurrentVoltage() {
-		return RobotController.getBatteryVoltage();
-	}
+    public static double getCurrentVoltage() {
+        return RobotController.getBatteryVoltage();
+    }
 
-	public static void scheduleMonitor() {
-		if (!monitor.isScheduled()) {
-			monitor.schedule();
-		}
-	}
-
-}
+    public static void scheduleMonitor() {
+        if (!monitor.isScheduled()) {
+            monitor.schedule();
+        }
+    }
+}

src/main/java/frc/robot/util/led/AnimationController.java

@@ -0,0 +1,57 @@
+package frc.robot.util.led;
+
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.Timer;
+import frc.robot.util.led.patterns.LedPattern;
+
+/** Manages the active LED pattern and handles timing logic. Ensures consistent animation updates based on time. */
+public class AnimationController {
+    private LedPattern activePattern;
+    private int startIndex = 0;
+    private final Timer timer = new Timer();
+
+    /**
+     * Sets a new pattern to be active. This resets the animation timer.
+     *
+     * @param pattern The pattern to display.
+     * @param startIndex The index in the LED buffer where the pattern starts.
+     */
+    public void setPattern(LedPattern pattern, int startIndex) {
+        this.activePattern = pattern;
+        this.startIndex = startIndex;
+        timer.restart();
+        if (pattern != null) {
+            pattern.initialize();
+        }
+    }
+
+    /** Clears the current pattern. */
+    public void clear() {
+        this.activePattern = null;
+        timer.stop();
+        timer.reset();
+    }
+
+    /**
+     * Updates the active pattern if one exists.
+     *
+     * @param buffer The LED buffer to write to.
+     */
+    public void update(AddressableLEDBuffer buffer) {
+        if (activePattern != null) {
+            activePattern.update(buffer, startIndex, timer.get());
+        }
+    }
+
+    /**
+     * Returns the name of the active pattern for logging.
+     *
+     * @return Name of the pattern class or "None".
+     */
+    public String getActivePatternName() {
+        if (activePattern != null) {
+            return activePattern.getClass().getSimpleName();
+        }
+        return "None";
+    }
+}