blinkin subsystem

src/main/java/frc/robot/Constants.java

@@ -22,6 +22,11 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
+  public class BlinkinConstants {
+
+    public static final int kBlinkinPort = 0;
+
+  }
 
   public static final class DriveConstants {
 

src/main/java/frc/robot/subsystems/BlinkinSubsystem.java

@@ -0,0 +1,67 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import java.util.function.BooleanSupplier;
+
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants.BlinkinConstants;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+
+
+public class BlinkinSubsystem extends SubsystemBase {
+
+  private final ShuffleboardTab m_tab = Shuffleboard.getTab("Blinkin");
+
+  private final Spark blinkin;
+
+  public BlinkinSubsystem() {
+    blinkin = new Spark(BlinkinConstants.kBlinkinPort);
+    m_tab.add(blinkin.toString(), blinkin);
+  }
+
+  public BooleanSupplier supplier = () -> {return false;};
+
+  @Override
+  public void periodic() {
+    if (supplier.getAsBoolean())
+        setGreen();
+    // This method will be called once per scheduler run
+  }
+
+  public void set(double pattern) {
+    blinkin.set(pattern);
+  }
+
+  public void setOcean(){
+    blinkin.set(-0.95);
+  }
+
+  public void setRainbow(){
+    blinkin.set(-0.99);
+  }
+
+  public void setBlue(){
+    blinkin.set(0.87);
+  }
+
+  public void setGreen(){
+    blinkin.set(0.77);
+  }
+
+  public void setRed(){
+    blinkin.set(0.61);
+  }
+
+  public void setWhite(){
+    blinkin.set(0.93);
+  }
+  @Override
+  public void simulationPeriodic() {
+    // This method will be called once per scheduler run during simulation
+  }
+}