Package com.ctre.phoenix6.controls

Class LarsonAnimation

java.lang.Object
com.ctre.phoenix6.controls.LarsonAnimation
All Implemented Interfaces:
ControlRequest, Cloneable
public final class LarsonAnimation extends Object implements ControlRequest, Cloneable
Animation that bounces a pocket of light across the LED strip.

  • Field Details

    • LEDStartIndex

      public int LEDStartIndex
      The index of the first LED this animation controls (inclusive). Indices 0-7 control the onboard LEDs, and 8-399 control an attached LED strip.

    • LEDEndIndex

      public int LEDEndIndex
      The index of the last LED this animation controls (inclusive). Indices 0-7 control the onboard LEDs, and 8-399 control an attached LED strip.

    • Slot

      public int Slot
      The slot of this animation, within [0, 7]. Each slot on the CANdle can store and run one animation.

    • Color

      public RGBWColor Color
      The color to use in the animation.

    • Size

      public int Size
      The number of LEDs in the pocket of light, up to 15.

    • BounceMode

      public LarsonBounceValue BounceMode
      The behavior of the pocket of light when it reaches the end of the strip.

    • FrameRate

      public double FrameRate
      The frame rate of the animation, from [2, 1000] Hz. This determines the speed of the animation.

      A frame is defined as a transition in the state of the LEDs, advancing the pocket of light by one LED.

      • Units: Hz

    • UpdateFreqHz

      public double UpdateFreqHz
      The frequency at which this control will update. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

      If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

  • Constructor Details

    • LarsonAnimation

      public LarsonAnimation(int LEDStartIndex, int LEDEndIndex)
      Animation that bounces a pocket of light across the LED strip.

      Parameters:
      LEDStartIndex - The index of the first LED this animation controls (inclusive). Indices 0-7 control the onboard LEDs, and 8-399 control an attached LED strip.
      LEDEndIndex - The index of the last LED this animation controls (inclusive). Indices 0-7 control the onboard LEDs, and 8-399 control an attached LED strip.

  • Method Details

    • getName

      public String getName()
      Description copied from interface: ControlRequest
      Gets the name of this control request.
      Specified by:
      getName in interface ControlRequest
      Returns:
      Name of the control request

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • sendRequest

      public StatusCode sendRequest(String network, int deviceHash)
      Specified by:
      sendRequest in interface ControlRequest

    • getControlInfo

      public Map<String,String> getControlInfo()
      Gets information about this control request.
      Specified by:
      getControlInfo in interface ControlRequest
      Returns:
      Map of control parameter names and corresponding applied values

    • withLEDStartIndex

      public LarsonAnimation withLEDStartIndex(int newLEDStartIndex)
      Modifies this Control Request's LEDStartIndex parameter and returns itself for method-chaining and easier to use request API.

      The index of the first LED this animation controls (inclusive). Indices 0-7 control the onboard LEDs, and 8-399 control an attached LED strip.

      Parameters:
      newLEDStartIndex - Parameter to modify
      Returns:
      Itself

    • withLEDEndIndex

      public LarsonAnimation withLEDEndIndex(int newLEDEndIndex)
      Modifies this Control Request's LEDEndIndex parameter and returns itself for method-chaining and easier to use request API.

      The index of the last LED this animation controls (inclusive). Indices 0-7 control the onboard LEDs, and 8-399 control an attached LED strip.

      Parameters:
      newLEDEndIndex - Parameter to modify
      Returns:
      Itself

    • withSlot

      public LarsonAnimation withSlot(int newSlot)
      Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API.

      The slot of this animation, within [0, 7]. Each slot on the CANdle can store and run one animation.

      Parameters:
      newSlot - Parameter to modify
      Returns:
      Itself

    • withColor

      public LarsonAnimation withColor(RGBWColor newColor)
      Modifies this Control Request's Color parameter and returns itself for method-chaining and easier to use request API.

      The color to use in the animation.

      Parameters:
      newColor - Parameter to modify
      Returns:
      Itself

    • withSize

      public LarsonAnimation withSize(int newSize)
      Modifies this Control Request's Size parameter and returns itself for method-chaining and easier to use request API.

      The number of LEDs in the pocket of light, up to 15.

      Parameters:
      newSize - Parameter to modify
      Returns:
      Itself

    • withBounceMode

      public LarsonAnimation withBounceMode(LarsonBounceValue newBounceMode)
      Modifies this Control Request's BounceMode parameter and returns itself for method-chaining and easier to use request API.

      The behavior of the pocket of light when it reaches the end of the strip.

      Parameters:
      newBounceMode - Parameter to modify
      Returns:
      Itself

    • withFrameRate

      public LarsonAnimation withFrameRate(double newFrameRate)
      Modifies this Control Request's FrameRate parameter and returns itself for method-chaining and easier to use request API.

      The frame rate of the animation, from [2, 1000] Hz. This determines the speed of the animation.

      A frame is defined as a transition in the state of the LEDs, advancing the pocket of light by one LED.

      • Units: Hz
      Parameters:
      newFrameRate - Parameter to modify
      Returns:
      Itself

    • withFrameRate

      public LarsonAnimation withFrameRate(Frequency newFrameRate)
      Modifies this Control Request's FrameRate parameter and returns itself for method-chaining and easier to use request API.

      The frame rate of the animation, from [2, 1000] Hz. This determines the speed of the animation.

      A frame is defined as a transition in the state of the LEDs, advancing the pocket of light by one LED.

      • Units: Hz
      Parameters:
      newFrameRate - Parameter to modify
      Returns:
      Itself

    • getFrameRateMeasure

      public Frequency getFrameRateMeasure()
      Helper method to get this Control Request's FrameRate parameter converted to a unit type. If not using the Java units library, FrameRate can be accessed directly instead.

      The frame rate of the animation, from [2, 1000] Hz. This determines the speed of the animation.

      A frame is defined as a transition in the state of the LEDs, advancing the pocket of light by one LED.

      • Units: Hz
      Returns:
      FrameRate

    • withUpdateFreqHz

      public LarsonAnimation withUpdateFreqHz(double newUpdateFreqHz)
      Sets the frequency at which this control will update. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

      If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

      Specified by:
      withUpdateFreqHz in interface ControlRequest
      Parameters:
      newUpdateFreqHz - Parameter to modify
      Returns:
      Itself

    • withUpdateFreqHz

      public LarsonAnimation withUpdateFreqHz(Frequency newUpdateFreqHz)
      Sets the frequency at which this control will update. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

      If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

      Specified by:
      withUpdateFreqHz in interface ControlRequest
      Parameters:
      newUpdateFreqHz - Parameter to modify
      Returns:
      Itself

    • clone

      public LarsonAnimation clone()
      Overrides:
      clone in class Object