frc::AddressableLED Class Reference

A class for driving addressable LEDs, such as WS2812B, WS2815, and NeoPixels. More...

#include <frc/AddressableLED.h>

Classes
class	LEDData

Public Types
enum	ColorOrder {   kRGB = HAL_ALED_RGB , kRBG = HAL_ALED_RBG , kBGR = HAL_ALED_BGR , kBRG = HAL_ALED_BRG ,   kGBR = HAL_ALED_GBR , kGRB = HAL_ALED_GRB }
	Order that color data is sent over the wire. More...

Public Member Functions
	AddressableLED (int port)
	Constructs a new driver for a specific port.
	AddressableLED (AddressableLED &&)=default
AddressableLED &	operator= (AddressableLED &&)=default
void	SetColorOrder (ColorOrder order)
	Sets the color order for this AddressableLED.
void	SetLength (int length)
	Sets the length of the LED strip.
void	SetData (std::span< const LEDData > ledData)
	Sets the led output data.
void	SetData (std::initializer_list< LEDData > ledData)
	Sets the led output data.
void	SetBitTiming (units::nanosecond_t highTime0, units::nanosecond_t lowTime0, units::nanosecond_t highTime1, units::nanosecond_t lowTime1)
	Sets the bit timing.
void	SetSyncTime (units::microsecond_t syncTime)
	Sets the sync time.
void	Start ()
	Starts the output.
void	Stop ()
	Stops the output.

Detailed Description

A class for driving addressable LEDs, such as WS2812B, WS2815, and NeoPixels.

By default, the timing supports WS2812B and WS2815 LEDs, but is configurable using SetBitTiming()

Some LEDs use a different color order than the default GRB. The color order is configurable using SetColorOrder().

Only 1 LED driver is currently supported by the roboRIO. However, multiple LED strips can be connected in series and controlled from the single driver.

Member Enumeration Documentation

ColorOrder

enum frc::AddressableLED::ColorOrder

Order that color data is sent over the wire.

Enumerator
kRGB	RGB order.
kRBG	RBG order.
kBGR	BGR order.
kBRG	BRG order.
kGBR	GBR order.
kGRB	GRB order. This is the default order.

Constructor & Destructor Documentation

AddressableLED() [1/2]

frc::AddressableLED::AddressableLED ( int port )

explicit

Constructs a new driver for a specific port.

Parameters

port	the output port to use (Must be a PWM header)

AddressableLED() [2/2]

frc::AddressableLED::AddressableLED ( AddressableLED && )

default

Member Function Documentation

operator=()

AddressableLED & frc::AddressableLED::operator= ( AddressableLED && )

default

SetBitTiming()

void frc::AddressableLED::SetBitTiming	(	units::nanosecond_t	highTime0,
		units::nanosecond_t	lowTime0,
		units::nanosecond_t	highTime1,
		units::nanosecond_t	lowTime1 )

Sets the bit timing.

By default, the driver is set up to drive WS2812B and WS2815, so nothing needs to be set for those.

Parameters

highTime0	high time for 0 bit (default 400ns)
lowTime0	low time for 0 bit (default 900ns)
highTime1	high time for 1 bit (default 900ns)
lowTime1	low time for 1 bit (default 600ns)

SetColorOrder()

void frc::AddressableLED::SetColorOrder

(

ColorOrder

order

)

Sets the color order for this AddressableLED.

The default order is GRB.

This will take effect on the next call to SetData().

Parameters

order

the color order

SetData() [1/2]

void frc::AddressableLED::SetData

(

std::initializer_list< LEDData >

ledData

)

Sets the led output data.

If the output is enabled, this will start writing the next data cycle. It is safe to call, even while output is enabled.

Parameters

ledData

the buffer to write

SetData() [2/2]

void frc::AddressableLED::SetData

(

std::span< const LEDData >

ledData

)

Sets the led output data.

If the output is enabled, this will start writing the next data cycle. It is safe to call, even while output is enabled.

Parameters

ledData

the buffer to write

SetLength()

void frc::AddressableLED::SetLength

(

int

length

)

Sets the length of the LED strip.

Calling this is an expensive call, so its best to call it once, then just update data.

The max length is 5460 LEDs.

Parameters

length

the strip length

SetSyncTime()

void frc::AddressableLED::SetSyncTime

(

units::microsecond_t

syncTime

)

Sets the sync time.

The sync time is the time to hold output so LEDs enable. Default set for WS2812B and WS2815.

Parameters

syncTime

the sync time (default 280us)

Start()

void frc::AddressableLED::Start

(

)

Starts the output.

The output writes continuously.

Stop()

void frc::AddressableLED::Stop

(

)

Stops the output.

---

The documentation for this class was generated from the following file:

• frc/AddressableLED.h