LED Panel!

components/led.py

@@ -8,6 +8,7 @@
 
 import wpilib
 from ids import PwmChannels
+from components.led_panel import LEDPanel
 
 
 MAX_BRIGHTNESS = 50  # Integer value 0-255
@@ -51,13 +52,17 @@ def with_relative_brightness(self, multiplier: float) -> Hsv:
 
 
 class LightStrip:
-    def __init__(self, strip_length: int) -> None:
+    led_panel: LEDPanel
+
+    def __init__(self) -> None:
         self.leds = wpilib.AddressableLED(PwmChannels.led_strip)
-        self.leds.setLength(strip_length)
-        self.strip_length = strip_length
+
+        self.strip_length = (28 * 3) * 2 + (30 * 3) - 2
+        self.leds.setLength(self.strip_length)
+        self.strip_length = self.strip_length
 
         self.led_data = wpilib.AddressableLED.LEDData()
-        self.strip_data = [self.led_data] * strip_length
+        self.strip_data = [self.led_data] * self.strip_length
 
         self.pattern: Pattern = Rainbow(HsvColour.MAGENTA)
         self.high_priority_pattern: Pattern | None = None
@@ -67,24 +72,31 @@ def __init__(self, strip_length: int) -> None:
 
     def no_note(self) -> None:
         self.pattern = Solid(HsvColour.OFF)
+        self.led_panel.no_note()
 
     def intake_deployed(self) -> None:
         self.pattern = Flash(HsvColour.MAGENTA)
+        self.led_panel.intake_deployed()
 
     def in_range(self) -> None:
         self.pattern = Solid(HsvColour.GREEN)
+        self.led_panel.in_range()
 
     def not_in_range(self) -> None:
         self.pattern = Solid(HsvColour.RED)
+        self.led_panel.not_in_range()
 
     def climbing_arm_extending(self) -> None:
         self.high_priority_pattern = Flash(HsvColour.YELLOW)
+        self.led_panel.climbing_arm_extending()
 
     def climbing_arm_fully_extended(self) -> None:
         self.high_priority_pattern = Solid(HsvColour.YELLOW)
+        self.led_panel.climbing_arm_fully_extended()
 
     def climbing_arm_retracted(self) -> None:
         self.high_priority_pattern = None
+        self.led_panel.climbing_arm_retracted()
 
     def morse(self) -> None:
         self.pattern = Morse(HsvColour.ORANGE)

components/led_panel.py

@@ -0,0 +1,95 @@
+import wpilib
+
+
+class LEDPanel:
+    # Key: Match number, Value: Drop Bears match number (<=15)
+    # TODO: Fill with proper values when the draw comes out
+    matches: dict[int, int] = {1: 1}
+
+    def __init__(self) -> None:
+        # Custom packet: 00 000000
+        # match state, state specific information
+        self.match_state = 0
+        self.packet = 0b01000000
+        self.panel_port = wpilib.SerialPort(
+            baudRate=9600, port=wpilib.SerialPort.Port.kUSB1, dataBits=8
+        )
+        self.set_match_id()
+
+    def send_packet(self) -> None:
+        self.panel_port.write(self.packet.to_bytes())
+
+    def set_match_state(self) -> None:
+        self.packet &= 0b00111111
+
+        if wpilib.DriverStation.isEnabled():
+            # During
+            self.packet |= 0b01 << 6
+            if self.match_state != 1:
+                self.send_packet()
+                self.match_state = 1
+        elif wpilib.DriverStation.getMatchTime() <= 0:
+            # Post match
+            self.packet |= 0b10 << 6
+            if self.match_state != 2:
+                self.send_packet()
+                self.match_state = 2
+        else:
+            # Pre match
+            self.packet |= 0b00 << 6
+            if self.match_state != 0:
+                self.send_packet()
+                self.match_state = 0
+
+    def set_match_id(self) -> None:
+        match_type = wpilib.DriverStation.getMatchType()
+        match_id = 0
+        if (
+            match_type == wpilib.DriverStation.MatchType.kQualification
+            or match_type == wpilib.DriverStation.MatchType.kElimination
+        ):
+            match_number = wpilib.DriverStation.getMatchNumber()
+            if match_number in self.matches:
+                match_id = self.matches[match_number]
+                # Can't be greater than 15
+                match_id = max(match_id, 15)
+
+        self.packet |= match_id
+        self.send_packet()
+
+    def no_note(self) -> None:
+        self.packet &= 0b11000000
+        self.send_packet()
+
+    def intake_deployed(self) -> None:
+        self.packet &= 0b11000000
+        self.packet |= 0b001
+        self.send_packet()
+
+    def in_range(self) -> None:
+        self.packet &= 0b11000000
+        self.packet |= 0b010
+        self.send_packet()
+
+    def not_in_range(self) -> None:
+        self.packet &= 0b11000000
+        self.packet |= 0b011
+        self.send_packet()
+
+    def climbing_arm_extending(self) -> None:
+        self.packet &= 0b11000000
+        self.packet |= 0b100
+        self.send_packet()
+
+    def climbing_arm_fully_extended(self) -> None:
+        self.packet &= 0b11000000
+        self.packet |= 0b101
+        self.send_packet()
+
+    def climbing_arm_retracted(self) -> None:
+        self.packet &= 0b11000000
+        self.packet |= 0b110
+        self.send_packet()
+
+    def execute(self) -> None:
+        self.set_match_state()

robot.py

@@ -12,6 +12,7 @@
 from components.intake import IntakeComponent
 from components.climber import Climber
 from components.led import LightStrip
+from components.led_panel import LEDPanel
 
 from controllers.note import NoteManager
 from controllers.intake import Intake
@@ -38,6 +39,7 @@ class MyRobot(magicbot.MagicRobot):
     intake_component: IntakeComponent
 
     status_lights: LightStrip
+    led_panel: LEDPanel
 
     max_speed = magicbot.tunable(4)  # m/s
     lower_max_speed = magicbot.tunable(2)  # m/s
@@ -55,9 +57,6 @@ def createObjects(self) -> None:
         self.field = wpilib.Field2d()
         wpilib.SmartDashboard.putData(self.field)
 
-        # side: (28*3)*2 + front: (30*3) - 2 (R.I.P)
-        self.status_lights_strip_length = (28 * 3) * 2 + (30 * 3) - 2
-
         self.vision_port_name = "ardu_cam_port"
         self.vision_port_pos = Translation3d(0.005, 0.221, 0.503)
         self.vision_port_rot = Rotation3d(
@@ -188,6 +187,7 @@ def testPeriodic(self) -> None:
         self.chassis.update_odometry()
 
         self.status_lights.execute()
+        self.led_panel.execute()
         self.vision_port.execute()
         self.vision_starboard.execute()
 
@@ -197,6 +197,7 @@ def disabledPeriodic(self) -> None:
 
         self.intake_component.maybe_reindex_deployment_encoder()
         self.status_lights.execute()
+        self.led_panel.execute()
         self.vision_port.execute()
         self.vision_starboard.execute()