argos_lib::LEDSubsystem Class Reference

#include <led_subsystem.h>

Inheritance diagram for argos_lib::LEDSubsystem:

Classes
struct	LEDUpdateGroup
	Represents a contiguous block of LEDs that have the same color. More...

Public Member Functions
	LEDSubsystem (unsigned numAuxLEDs)
	Construct a new LEDSubsystem object.
void	Periodic () override
void	StockAnimateAuxLEDs (ctre::phoenix::led::Animation &animation, int slot)
	Set LEDs in attached strip/panel to use stock animation.
void	StockAnimateIntegratedLEDs (ctre::phoenix::led::Animation &animation, int slot)
	Set LEDs built into CANdle to use stock animation.
void	CustomAnimateAuxLEDs (argos_lib::led::Animation animation)
	Set LEDs in attached strip/panel to use custom animation. The LEDs will be updated on every call of the subsystem periodic function.
void	CustomAnimateIntegratedLEDs (argos_lib::led::Animation animation)
	Set LEDs built into CANdle to use custom animation. The LEDs will be updated on every call of the subsystem periodic function.

Private Member Functions
std::vector< LEDUpdateGroup >	GetDeltaUpdate (const std::vector< LEDState > &prev, const std::vector< LEDState > &current)
	Get sendable LED block updates to change from prev to current.

Private Attributes
std::vector< LEDState >	m_currentLEDs
	LED status to send as update.
std::vector< LEDState >	m_prevLEDs
	LED status prior to last update.
std::vector< argos_lib::led::Animation >	m_customAnimations
	Active animations.
ctre::phoenix::led::CANdle	m_controller
	LED controller instance with attached LEDs.

Static Private Attributes
static constexpr unsigned	numIntegratedLEDs = 8
	Number of LEDs addressed before attached LED strip/panel.

Constructor & Destructor Documentation

LEDSubsystem()

LEDSubsystem::LEDSubsystem ( unsigned  numAuxLEDs )

explicit

Construct a new LEDSubsystem object.

Parameters

numAuxLEDs

Number of LEDs attached to the CANdle

Member Function Documentation

CustomAnimateAuxLEDs()

void LEDSubsystem::CustomAnimateAuxLEDs

(

argos_lib::led::Animation

animation

)

Set LEDs in attached strip/panel to use custom animation. The LEDs will be updated on every call of the subsystem periodic function.

Parameters

animation

Animation to use where led offset 0 is beginning of attached LEDs

CustomAnimateIntegratedLEDs()

void LEDSubsystem::CustomAnimateIntegratedLEDs

(

argos_lib::led::Animation

animation

)

Set LEDs built into CANdle to use custom animation. The LEDs will be updated on every call of the subsystem periodic function.

Parameters

animation

Animation to use

GetDeltaUpdate()

std::vector< LEDSubsystem::LEDUpdateGroup > LEDSubsystem::GetDeltaUpdate ( const std::vector< LEDState > &  prev, const std::vector< LEDState > &  current  )

private

Get sendable LED block updates to change from prev to current.

Parameters

prev	Old LED state
current	New LED state

Returns

std::vector<LEDUpdateGroup> Minimal set of updates to change from prev to current

Periodic()

void LEDSubsystem::Periodic ( )

override

Will be called periodically whenever the CommandScheduler runs.

StockAnimateAuxLEDs()

void LEDSubsystem::StockAnimateAuxLEDs	(	ctre::phoenix::led::Animation &	animation,
		int	slot
	)

Set LEDs in attached strip/panel to use stock animation.

Parameters

animation	Animation to assign where led offset 0 is beginning of attached LEDs
slot	Animation slot to use

StockAnimateIntegratedLEDs()

void LEDSubsystem::StockAnimateIntegratedLEDs	(	ctre::phoenix::led::Animation &	animation,
		int	slot
	)

Set LEDs built into CANdle to use stock animation.

Parameters

animation	Animation to assign
slot	Animation slot to use

Member Data Documentation

m_controller

ctre::phoenix::led::CANdle argos_lib::LEDSubsystem::m_controller

private

LED controller instance with attached LEDs.

m_currentLEDs

std::vector<LEDState> argos_lib::LEDSubsystem::m_currentLEDs

private

LED status to send as update.

m_customAnimations

std::vector<argos_lib::led::Animation> argos_lib::LEDSubsystem::m_customAnimations

private

Active animations.

m_prevLEDs

std::vector<LEDState> argos_lib::LEDSubsystem::m_prevLEDs

private

LED status prior to last update.

numIntegratedLEDs

constexpr unsigned argos_lib::LEDSubsystem::numIntegratedLEDs = 8

staticconstexprprivate

Number of LEDs addressed before attached LED strip/panel.

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The documentation for this class was generated from the following files:

• src/argos_lib/include/argos_lib/subsystems/led_subsystem.h
• src/argos_lib/cpp/subsystems/led_subsystem.cpp