first commit

2026-02-23 08:38:49 +08:00
commit c2ffb70f3d
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+package frc.robot.utils;
+
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
+import frc.robot.subsystems.LEDSubsystem;
+
+public final class LedBindings {
+  private LedBindings() {}
+
+  public static void bindModeIndicators(LEDSubsystem leds) {
+    // Disabled：左右红色呼吸（允许在禁用状态运行）
+    RobotModeTriggers.disabled().onTrue(
+        Commands.runOnce(() -> {
+          leds.breathLeft(255, 0, 0, 1.0);
+          leds.breathRight(255, 0, 0, 1.0);
+        }, leds).ignoringDisable(true)
+    );
+
+    // Teleop：左右彩虹
+    RobotModeTriggers.teleop().onTrue(
+        Commands.runOnce(leds::rainbowAll, leds)
+    );
+
+    // Auto：左右蓝色常亮
+    RobotModeTriggers.autonomous().onTrue(
+        Commands.runOnce(() -> {
+          leds.solidLeft(0, 0, 255);
+          leds.solidRight(0, 0, 255);
+        }, leds)
+    );
+  }
+}