Led code

src/main/deploy/apriltag/practice_map.json

@@ -0,0 +1,261 @@
+{
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+      "pose": {
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+    {
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+      "pose": {
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+            "Z": -0.7118158936500549
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+        }
+      }
+    },
+    {
+      "ID": 16,
+      "pose": {
+        "translation": {
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+          "z": 0.014089105650782585
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+        "rotation": {
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+    }
+  ],
+  "field": {
+    "length": 6.2402091979980465,
+    "width": 9.050808906555176
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+  "_comment": "generated by PractiCal 1.0.4 (7) on 1/29/2026"
+}

src/main/java/org/team2342/frc/Robot.java

@@ -29,12 +29,14 @@
 import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGReader;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
+// import org.team2342.frc.subsystems.CANdleSystem.CANdleSystem;
 import org.team2342.frc.util.PhoenixUtils;
 import org.team2342.lib.logging.ExecutionLogger;
 
 public class Robot extends LoggedRobot {
   private Command autonomousCommand;
   private static final double loopOverrunWarningTimeout = 0.2;
+  // private final CANdleSystem candle = new CANdleSystem(null);
 
   private final RobotContainer robotContainer;
 
@@ -160,6 +162,7 @@ public void robotPeriodic() {
     robotContainer.updateAlerts();
 
     ExecutionLogger.log("RobotPeriodic");
+    // candle.periodic();
   }
 
   @Override

src/main/java/org/team2342/frc/util/PhoenixUtils.java

@@ -8,6 +8,8 @@
 
 import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.StatusCode;
+import com.ctre.phoenix6.signals.RGBWColor;
+import edu.wpi.first.wpilibj.util.Color;
 import java.util.function.Supplier;
 
 public class PhoenixUtils {
@@ -47,4 +49,17 @@ public static void refreshSignals() {
     // Check to make sure there are signals to refresh
     if (registeredSignals.length > 0) BaseStatusSignal.refreshAll(registeredSignals);
   }
+
+  /**
+   * Used to convert {@link edu.wpi.first.wpilibj.util.Color} to {@link
+   * com.ctre.phoenix6.signals.RGBWColor}
+   *
+   * @param c WPILib Color to be converted
+   */
+  public static RGBWColor toCTREColor(Color c) {
+    if (c == null) {
+      return new RGBWColor(0, 0, 0, 0);
+    }
+    return new RGBWColor((int) (c.red * 255), (int) (c.green * 255), (int) (c.blue * 255), 0);
+  }
 }

src/main/java/org/team2342/lib/leds/LedIO.java

@@ -6,4 +6,37 @@
 
 package org.team2342.lib.leds;
 
-public interface LedIO {}
+import edu.wpi.first.wpilibj.util.Color;
+import org.littletonrobotics.junction.AutoLog;
+
+public interface LedIO {
+  @AutoLog
+  public static class LedIOInputs {
+    public Color firstHalfColor = Color.kBlack;
+    public Color secondHalfColor = Color.kBlack;
+    public LedEffect firstHalfEffect = LedEffect.OFF;
+    public LedEffect secondHalfEffect = LedEffect.OFF;
+  }
+
+  public default void updateInputs(LedIOInputs inputs) {}
+
+  public default void setEffect(Half half, LedEffect effect, Color color) {}
+
+  public enum Half {
+    FIRST,
+    SECOND,
+    // ALL
+  }
+
+  public enum LedEffect {
+    SOLID,
+    FLASHING,
+    FIRE,
+    TWINKLE,
+    COLOR_FLOW,
+    LARSON,
+    RGB_FADE,
+    RAINBOW,
+    OFF
+  }
+}