Package edu.wpi.first.wpilibj

Class AddressableLED

java.lang.Object

edu.wpi.first.wpilibj.AddressableLED

All Implemented Interfaces:

AutoCloseable

public class AddressableLED
extends Object
implements AutoCloseable

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(int, int, int, int)

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

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.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	AddressableLED.ColorOrder	Order that color data is sent over the wire.

Constructor Summary

Constructors

Constructor	Description
AddressableLED(int port)	Constructs a new driver for a specific port.

Method Summary

Modifier and Type	Method	Description
void	close()
void	setBitTiming(int highTime0NanoSeconds, int lowTime0NanoSeconds, int highTime1NanoSeconds, int lowTime1NanoSeconds)	Sets the bit timing.
void	setColorOrder(AddressableLED.ColorOrder order)	Sets the color order for this AddressableLED.
void	setData(AddressableLEDBuffer buffer)	Sets the LED output data.
void	setLength(int length)	Sets the length of the LED strip.
void	setSyncTime(int syncTimeMicroSeconds)	Sets the sync time.
void	start()	Starts the output.
void	stop()	Stops the output.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

AddressableLED

public AddressableLED(int port)

Constructs a new driver for a specific port.

Parameters:

port - the output port to use (Must be a PWM header, not on MXP)

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

setColorOrder

public void setColorOrder(AddressableLED.ColorOrder order)

Sets the color order for this AddressableLED. The default order is GRB.

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

Parameters:

order - the color order

setLength

public void setLength(int length)

Sets the length of the LED strip.

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

The max length is 5460 LEDs.

Parameters:

length - the strip length

setData

public void setData(AddressableLEDBuffer buffer)

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:

buffer - the buffer to write

setBitTiming

public void setBitTiming(int highTime0NanoSeconds,
 int lowTime0NanoSeconds,
 int highTime1NanoSeconds,
 int lowTime1NanoSeconds)

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:

highTime0NanoSeconds - high time for 0 bit (default 400ns)

lowTime0NanoSeconds - low time for 0 bit (default 900ns)

highTime1NanoSeconds - high time for 1 bit (default 900ns)

lowTime1NanoSeconds - low time for 1 bit (default 600ns)

setSyncTime

public void setSyncTime(int syncTimeMicroSeconds)

Sets the sync time.

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

Parameters:

syncTimeMicroSeconds - the sync time (default 280us)

start

public void start()

Starts the output.

The output writes continuously.

stop

public void stop()

Stops the output.