LED Subsys

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

@@ -256,4 +256,8 @@ public static class VisionConstants {
 		public static final Transform3d CAMERA_POSE = new Transform3d(0.5, 0, 0.25, new Rotation3d());
 		public static final String CAMERA_NAME = "Arducam_OV9281_USB_Camera";
 	}
+
+	public static class LightConstants {
+		public static final int LED_CONTROLLER_PWM_SLOT = 0;
+	}
 }

src/main/java/frc/robot/commands/LED.java → src/main/java/frc/robot/commands/deprecated/LED.java

@@ -1,4 +1,4 @@
-package frc.robot.commands;
+package frc.robot.commands.deprecated;
 
 import edu.wpi.first.wpilibj.AddressableLED;
 import edu.wpi.first.wpilibj.AddressableLEDBuffer;
@@ -45,6 +45,8 @@ public void initialize() {
 	}
 
 	@Override
-	public boolean isFinished() { return true; }
+	public boolean isFinished() {
+		return true;
+	}
 
 }

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

@@ -0,0 +1,33 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.AddressableLED;
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class LightStrip extends SubsystemBase {
+	private AddressableLED ledStrip;
+	private AddressableLEDBuffer ledBuffer;
+
+	public LightStrip(AddressableLED ledstrip) {
+		ledStrip = ledstrip;
+		ledBuffer = new AddressableLEDBuffer(60);
+
+		// Docs say this is an expensive operation so future maintainers should avoid
+		// modifying this excessibely
+		ledStrip.setLength(ledBuffer.getLength());
+		ledStrip.setData(ledBuffer);
+
+		ledStrip.start();
+	}
+
+	public void setColor(int r, int g, int b) {
+		for (int i = 0; i < ledBuffer.getLength(); i++) {
+			ledBuffer.setRGB(i, r, g, b);
+		}
+	}
+
+	@Override
+	public void periodic() {
+		ledStrip.setData(ledBuffer);
+	}
+}