Orchestra

src/main/java/org/trigon/hardware/phoenix6/talonfx/TalonFXMotor.java

@@ -10,6 +10,7 @@
 import org.trigon.hardware.phoenix6.talonfx.io.RealTalonFXIO;
 import org.trigon.hardware.phoenix6.talonfx.io.SimulationTalonFXIO;
 import org.trigon.hardware.simulation.MotorPhysicsSimulation;
+import org.trigon.utilities.Orchestra;
 
 /**
  * A class that represents a TalonFX motor controller.
@@ -31,6 +32,7 @@ public class TalonFXMotor {
      */
     public TalonFXMotor(int id, String motorName) {
         this(id, motorName, "");
+        Orchestra.addMotor(motorIO.getTalonFX());
     }
 
     /**
@@ -190,7 +192,7 @@ public void setPosition(double positionRotations) {
     public void setBrake(boolean brake) {
         motorIO.setBrake(brake);
     }
-
+    
     private BaseStatusSignal motorSignalToStatusSignal(TalonFXSignal signal) {
         final TalonFX talonFX = motorIO.getTalonFX();
         if (RobotHardwareStats.isReplay() || talonFX == null)

src/main/java/org/trigon/hardware/phoenix6/talonfx/io/RealTalonFXIO.java

@@ -25,6 +25,10 @@ protected void setPosition(double positionRotations) {
 
     @Override
     public void applyConfiguration(TalonFXConfiguration configuration) {
+        configuration.Audio.BeepOnBoot = false;
+        configuration.Audio.BeepOnConfig = false;
+        configuration.Audio.AllowMusicDurDisable = true;
+
         talonFX.getConfigurator().apply(configuration);
     }
 

src/main/java/org/trigon/utilities/Orchestra.java

@@ -0,0 +1,109 @@
+package org.trigon.utilities;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import java.util.ArrayList;
+
+/**
+ * A class that uses the {@link com.ctre.phoenix6.Orchestra} library in Phoenix 6 to play a .chrp file.
+ */
+public class Orchestra {
+    private static final com.ctre.phoenix6.Orchestra ORCHESTRA = new com.ctre.phoenix6.Orchestra();
+    private static final ArrayList<TalonFX> MOTORS = new ArrayList<>();
+
+    /**
+     * Adds a motor to the Orchestra.
+     * The Orchestra can then play the music from those motors.
+     *
+     * @param motor the motor to be added to the Orchestra
+     */
+    public static void addMotor(TalonFX motor) {
+        MOTORS.add(motor);
+    }
+
+    /**
+     * Plays a .chrp file and assigns a track to each motor.
+     * A .chrp file stores music as tracks that can be played separately.
+     * The tracks are assigned linearly and loop back if there are extra motors.
+     *
+     * @param filePath    the path of the .chrp file to be played by the Orchestra
+     * @param totalTracks the number of tracks in the .chrp file.
+     */
+    public static void playFile(String filePath, int totalTracks) {
+        for (int i = 0; i < MOTORS.size(); i++)
+            ORCHESTRA.addInstrument(MOTORS.get(i), i % totalTracks + 1);
+
+        addAndPlayFile(filePath);
+    }
+
+    /**
+     * plays a .chrp file and assigns a track to each motor.
+     * A .chrp file stores music as tracks that can be played separately.
+     * The tracks are assigned by the {@code motorsPerTrack}.
+     * Each slot represents a track.
+     * Each value in the slot represents the number of motors that will be assigned that track.
+     *
+     * @param filePath       the path of the .chrp file to be added to the Orchestra
+     * @param motorsPerTrack number of motors that should be assigned to each track
+     */
+    public static void playFile(String filePath, int... motorsPerTrack) throws IllegalStateException {
+        int totalUsedMotors = 0;
+        int motorsAssignedTracks = 0;
+        for (int i = 0; i < motorsPerTrack.length; i++) {
+            totalUsedMotors += motorsPerTrack[i];
+            if (totalUsedMotors > MOTORS.size())
+                System.out.println("Not enough motors added to the Orchestra.");
+            for (int j = 0; j < motorsPerTrack[i]; i++)
+                ORCHESTRA.addInstrument(MOTORS.get(motorsAssignedTracks++), i + 1);
+        }
+        addAndPlayFile(filePath);
+    }
+
+    /**
+     * Stops the music and removes all tracks assigned to motors.
+     */
+    public static void stop() {
+        ORCHESTRA.stop();
+        ORCHESTRA.clearInstruments();
+    }
+
+    /**
+     * Plays the stored .chrp file.
+     */
+    public static void play() {
+        ORCHESTRA.play();
+    }
+
+    /**
+     * Pauses the music.
+     */
+    public static void pause() {
+        ORCHESTRA.pause();
+    }
+
+    /**
+     * @return if music is playing
+     */
+    public static boolean isOrchestraCurrentlyPlayingMusic() {
+        return ORCHESTRA.isPlaying();
+    }
+
+    /**
+     * Gets the play time of the .chrp file being played in seconds.
+     *
+     * @return the play time
+     */
+    public static double getPlayTimeSeconds() {
+        return ORCHESTRA.getCurrentTime();
+    }
+
+    /**
+     * Adds a .chrp file to the Orchestra and plays it.
+     *
+     * @param filePath the path of the .chrp file to be added to the Orchestra
+     */
+    private static void addAndPlayFile(String filePath) {
+        ORCHESTRA.loadMusic(filePath);
+        play();
+    }
+}