Fix LEDs (#50)

* Fix for CANdle, which uses 0-255 (int) instead of 0-1 (double)

* Started with the records

* Quick fix + continuation

* Implemented records. Still couldn't find a great alternative to setting the default command for every LED strip on each default command

* fixed some minor jd and efficiency things that annoyed me

* these should be protected

* extra new line

* AHHHHHHHHHHHHHH Made all animations the same data type

* added length 0 survivability

* Fix

* More correct way to do this

* best way to do this

---------

Co-authored-by: Nummun14 <[email protected]>
Co-authored-by: Nummun14 <[email protected]>
Co-authored-by: Yishai Levy <[email protected]>

Author: 3 people

src/main/java/org/trigon/hardware/misc/leds/AddressableLEDStrip.java

@@ -40,7 +40,7 @@ public static void initiateAddressableLED(int port, int totalAmountOfLEDs) {
     }
 
     /**
-     * Constructs a new AddressableLEDStrip. Before any commands are sent to the LED strip, the setAddressableLED and setAddressableLEDBuffer methods must be called.
+     * Constructs a new AddressableLEDStrip. Before any commands are sent to the LED strip, the {@link AddressableLEDStrip#initiateAddressableLED(int, int)} method must be called.
      *
      * @param inverted     whether the LED strip is inverted
      * @param numberOfLEDs the amount of LEDs in the strip
@@ -58,12 +58,12 @@ public void periodic() {
     }
 
     @Override
-    void clearLEDColors() {
-        staticColor(Color.kBlack);
+    protected void clearLEDColors() {
+        setStaticColor(Color.kBlack);
     }
 
     @Override
-    void blink(Color firstColor, double speed) {
+    protected void blink(Color color, double speed) {
         final double correctedSpeed = 1 - speed;
         final double currentTime = Timer.getTimestamp();
 
@@ -73,19 +73,19 @@ void blink(Color firstColor, double speed) {
         }
 
         if (isLEDAnimationChanged) {
-            staticColor(firstColor);
+            setStaticColor(color);
             return;
         }
         clearLEDColors();
     }
 
     @Override
-    void staticColor(Color color) {
-        setLEDColors(color, 0, numberOfLEDs - 1);
+    protected void staticColor(Color color) {
+        setStaticColor(color);
     }
 
     @Override
-    void breathe(Color color, int breathingLEDs, double speed, boolean inverted, LarsonAnimation.BounceMode bounceMode) {
+    protected void breathe(Color color, int numberOfBreathingLEDs, double speed, boolean inverted, LarsonAnimation.BounceMode bounceMode) {
         clearLEDColors();
         final boolean correctedInverted = this.inverted != inverted;
         final double moveLEDTimeSeconds = 1 - speed;
@@ -99,12 +99,12 @@ void breathe(Color color, int breathingLEDs, double speed, boolean inverted, Lar
                 lastBreatheLED++;
         }
 
-        checkIfBreathingHasHitEnd(breathingLEDs, correctedInverted, bounceMode);
-        setBreathingLEDs(color, breathingLEDs, bounceMode);
+        checkIfBreathingHasHitEnd(numberOfBreathingLEDs, correctedInverted, bounceMode);
+        setBreathingLEDs(color, numberOfBreathingLEDs, bounceMode);
     }
 
     @Override
-    void colorFlow(Color color, double speed, boolean inverted) {
+    protected void colorFlow(Color color, double speed, boolean inverted) {
         clearLEDColors();
         final boolean correctedInverted = this.inverted != inverted;
         final double moveLEDTimeSeconds = 1 - speed;
@@ -123,13 +123,13 @@ void colorFlow(Color color, double speed, boolean inverted) {
     }
 
     @Override
-    void alternateColor(Color firstColor, Color secondColor) {
+    protected void alternateColor(Color firstColor, Color secondColor) {
         for (int i = 0; i < numberOfLEDs; i++)
             LED_BUFFER.setLED(i + indexOffset, i % 2 == 0 ? firstColor : secondColor);
     }
 
     @Override
-    void rainbow(double brightness, double speed, boolean inverted) {
+    protected void rainbow(double brightness, double speed, boolean inverted) {
         final boolean correctedInverted = this.inverted != inverted;
         final int adjustedBrightness = (int) (brightness * 255);
         final int hueIncrement = (int) (speed * 8);
@@ -150,9 +150,9 @@ void rainbow(double brightness, double speed, boolean inverted) {
     }
 
     @Override
-    void sectionColor(Supplier<Color>[] colors) {
+    protected void sectionColor(Supplier<Color>[] colors) {
         final int amountOfSections = colors.length;
-        final int ledsPerSection = (int) Math.floor(numberOfLEDs / amountOfSections);
+        final int ledsPerSection = (int) Math.floor((double) numberOfLEDs / amountOfSections);
 
         for (int i = 0; i < amountOfSections; i++)
             setLEDColors(
@@ -163,14 +163,18 @@ void sectionColor(Supplier<Color>[] colors) {
     }
 
     @Override
-    void resetLEDSettings() {
+    protected void resetLEDSettings() {
         lastBreatheLED = indexOffset;
         lastLEDAnimationChangeTime = Timer.getTimestamp();
         rainbowFirstPixelHue = 0;
         isLEDAnimationChanged = false;
         amountOfColorFlowLEDs = 0;
     }
 
+    private void setStaticColor(Color color) {
+        setLEDColors(color, 0, numberOfLEDs - 1);
+    }
+
     private void checkIfBreathingHasHitEnd(int amountOfBreathingLEDs, boolean inverted, LarsonAnimation.BounceMode bounceMode) {
         final int bounceModeAddition = switch (bounceMode) {
             case Back -> amountOfBreathingLEDs;

src/main/java/org/trigon/hardware/misc/leds/CANdleLEDStrip.java

@@ -21,7 +21,7 @@ public class CANdleLEDStrip extends LEDStrip {
      * @param candle the CANdle instance to be used
      */
     public static void setCANdle(CANdle candle) {
-        if (CANDLE == null)
+        if (CANDLE == null && !RobotHardwareStats.isSimulation())
             CANDLE = candle;
     }
 
@@ -37,7 +37,7 @@ public static void setTotalAmountOfLEDs(int totalAmountOfLEDs) {
     }
 
     /**
-     * Constructs a new CANdleLEDStrip. Before any commands are sent to the LED strip, the setCANdle method must be called.
+     * Constructs a new CANdleLEDStrip. Before any commands are sent to the LED strip, the {@link CANdleLEDStrip#setCANdle(CANdle)} method must be called.
      *
      * @param inverted     whether the LED strip is inverted
      * @param numberOfLEDs the amount of LEDs in the strip
@@ -50,17 +50,17 @@ public static void setTotalAmountOfLEDs(int totalAmountOfLEDs) {
     }
 
     @Override
-    void clearLEDColors() {
+    protected void clearLEDColors() {
         CANDLE.clearAnimation(animationSlot);
     }
 
     @Override
-    void blink(Color firstColor, double speed) {
+    protected void blink(Color color, double speed) {
         CANDLE.animate(
                 new SingleFadeAnimation(
-                        (int) firstColor.red,
-                        (int) firstColor.green,
-                        (int) firstColor.blue,
+                        (int) (color.red * 255),
+                        (int) (color.green * 255),
+                        (int) (color.blue * 255),
                         0,
                         speed,
                         this.numberOfLEDs,
@@ -71,49 +71,56 @@ void blink(Color firstColor, double speed) {
     }
 
     @Override
-    void staticColor(Color color) {
-        CANDLE.setLEDs((int) color.red, (int) color.green, (int) color.blue, 0, indexOffset, numberOfLEDs);
+    protected void staticColor(Color color) {
+        CANDLE.setLEDs(
+                ((int) color.red * 255),
+                ((int) color.green * 255),
+                ((int) color.blue * 255),
+                0,
+                indexOffset,
+                numberOfLEDs
+        );
     }
 
     @Override
-    void breathe(Color color, int amountOfBreathingLEDs, double speed, boolean inverted, LarsonAnimation.BounceMode bounceMode) {
+    protected void breathe(Color color, int numberOfBreathingLEDs, double speed, boolean inverted, LarsonAnimation.BounceMode bounceMode) {
         CANDLE.animate(
                 new LarsonAnimation(
-                        (int) color.red,
-                        (int) color.green,
-                        (int) color.blue,
+                        (int) (color.red * 255),
+                        (int) (color.green * 255),
+                        (int) (color.blue * 255),
                         0,
                         speed,
                         this.numberOfLEDs,
                         bounceMode,
-                        amountOfBreathingLEDs,
+                        numberOfBreathingLEDs,
                         indexOffset
                 ),
                 animationSlot
         );
     }
 
     @Override
-    void alternateColor(Color firstColor, Color secondColor) {
+    protected void alternateColor(Color firstColor, Color secondColor) {
         for (int i = 0; i < numberOfLEDs; i++)
             CANDLE.setLEDs(
-                    (int) (isEven(i) ? firstColor.red : secondColor.red),
-                    (int) (isEven(i) ? firstColor.green : secondColor.green),
-                    (int) (isEven(i) ? firstColor.blue : secondColor.blue),
+                    (int) ((isEven(i) ? firstColor.red : secondColor.red) * 255),
+                    (int) ((isEven(i) ? firstColor.green : secondColor.green) * 255),
+                    (int) ((isEven(i) ? firstColor.blue : secondColor.blue) * 255),
                     0,
                     i + indexOffset,
                     1
             );
     }
 
     @Override
-    void colorFlow(Color color, double speed, boolean inverted) {
+    protected void colorFlow(Color color, double speed, boolean inverted) {
         final boolean correctedInverted = this.inverted != inverted;
         CANDLE.animate(
                 new ColorFlowAnimation(
-                        (int) color.red,
-                        (int) color.green,
-                        (int) color.blue,
+                        (int) (color.red * 255),
+                        (int) (color.green * 255),
+                        (int) (color.blue * 255),
                         0,
                         speed,
                         this.numberOfLEDs,
@@ -125,7 +132,7 @@ void colorFlow(Color color, double speed, boolean inverted) {
     }
 
     @Override
-    void rainbow(double brightness, double speed, boolean inverted) {
+    protected void rainbow(double brightness, double speed, boolean inverted) {
         final boolean correctedInverted = this.inverted != inverted;
         CANDLE.animate(
                 new RainbowAnimation(
@@ -140,17 +147,17 @@ void rainbow(double brightness, double speed, boolean inverted) {
     }
 
     @Override
-    void sectionColor(Supplier<Color>[] colors) {
-        final int ledsPerSection = (int) Math.floor(numberOfLEDs / colors.length);
+    protected void sectionColor(Supplier<Color>[] colors) {
+        final int ledsPerSection = (int) Math.floor((double) numberOfLEDs / colors.length);
         setSectionColor(colors.length, ledsPerSection, colors);
     }
 
     private void setSectionColor(int amountOfSections, int ledsPerSection, Supplier<Color>[] colors) {
         for (int i = 0; i < amountOfSections; i++) {
             CANDLE.setLEDs(
-                    (int) (inverted ? colors[amountOfSections - i - 1].get().red : colors[i].get().red),
-                    (int) (inverted ? colors[amountOfSections - i - 1].get().green : colors[i].get().green),
-                    (int) (inverted ? colors[amountOfSections - i - 1].get().blue : colors[i].get().blue),
+                    (int) ((inverted ? colors[amountOfSections - i - 1].get().red : colors[i].get().red) * 255),
+                    (int) ((inverted ? colors[amountOfSections - i - 1].get().green : colors[i].get().green) * 255),
+                    (int) ((inverted ? colors[amountOfSections - i - 1].get().blue : colors[i].get().blue) * 255),
                     0,
                     ledsPerSection * i + indexOffset,
                     i == amountOfSections - 1 ? numberOfLEDs - 1 : ledsPerSection * (i + 1) - 1