SickLights

#include <Adafruit_NeoPixel.h>
#include "SPI.h"
#define NUM_LEDS 10
#define PIN 3
long initialMillis;
String alliance;
double spinDelay;
boolean isCubeDetection;
int command, morphState, morphCountRed, morphCountBlue, flashState;
int spinCounter = 0;
int spinAdvancer = 0;
int drivetrainStart = 0;
int drivetrainEnd = 20;
int shooterLeftStart = 25;
int shooterLeftEnd = 40;
int shooterRightStart = 60;
int shooterRightEnd = 75;

Adafruit_NeoPixel strip = Adafruit_NeoPixel(NUM_LEDS, PIN, NEO_GRB + NEO_KHZ800);


void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  Serial.setTimeout(20);
  strip.begin();
  initialMillis = millis();

  //Sets all the lights on the robot to be purple by default.
  for(int i = 0; i <= NUM_LEDS; i++) {
    strip.setPixelColor(i, 100, 0, 100);
  }

  strip.show();
  morphState = 0;
  morphCountRed = 100;
  morphCountBlue = 100;
}

void loop() {
  // put your main code here, to run repeatedly:

  //Checks if there have been any new commands, and if so, reads it.
  if(Serial.available()) {
    command = Serial.read();
    Serial.print("Data received: ");
    Serial.print(command);
    Serial.println();
  }

  //Runs the correct methods if a command is received.
  switch(command) {
  case 1:
    alliance = "RED";
    break;
  case 2:
    alliance = "BLUE";
    break;
  case 3:
    reverse();
    break;
  case 4:
    spinDelay = 150;
    spinUp;
    break;
  case 5:
    spinDelay = 100;
    spinUp();
    break;
  case 6:
    spinDelay = 75;
    spinUp();
    break;
  case 7:
    spinDelay = 50;
    spinUp();
    break;
  case 8:
    isCubeDetection = true;
    flash();
    break;
  case 9:
    isCubeDetection = false;
    flash();
    break;
  default:
    sparkle();
    break;
  }

  //Constantly morphs between alliance color and purple, regardless of other commands on the lights.
  if(alliance == "RED") {
    for(int i = 0; i <= (drivetrainEnd - drivetrainStart + 1); i++) {
      strip.setPixelColor(i, morphCountRed, 0, morphCountBlue);
    }

    if(morphState == 0) {
      morphCountBlue--;

      if(morphCountBlue == 0) {
        morphState = 1;
      }
    }
    else {
      morphCountBlue++;

      if(morphCountBlue == 100) {
        morphState = 0;
      }
    }
  }
  else if(alliance == "BLUE") {
    for(int i = 0; i <= (drivetrainEnd - drivetrainStart + 1); i++) {
      strip.setPixelColor(i, morphCountRed, 0, morphCountBlue);
    }

    if(morphState == 0) {
      morphCountRed--;

      if(morphCountRed == 0) {
        morphState = 1;
      }
    }
    else {
      morphCountRed++;

      if(morphCountRed == 100) {
        morphState = 0;
      }
    }
  }
  else {

  }

  strip.show();
}

//Used when outputting from the shooter side of the robot, no matter what power is being used.
void spinUp() {
  if(millis() - spinDelay >= initialMillis) {
    if(spinAdvancer == 3) {
      spinAdvancer = 0;
    }
    else {
      spinAdvancer++;
    }
    initialMillis = millis();
  }
  else {

  }

  for(int i = shooterLeftStart; i <= (shooterLeftEnd - shooterLeftStart + 1); i++) {
    if(i % 4 == spinAdvancer) {
      strip.setPixelColor(i, 100, 0, 100);
    }
    else {
      strip.setPixelColor(i, 0, 0, 0);
    }
  }

  for(int i = shooterRightStart; i <= (shooterRightEnd - shooterRightStart + 1); i++) {
    if(i % 4 == spinAdvancer) {
      strip.setPixelColor(i, 100, 0, 100);
    }
    else {
      strip.setPixelColor(i, 0, 0, 0);
    }
  }
}

//Used when intaking from the shooter side of the robot.
void reverse() {
  if(millis() - spinDelay >= initialMillis) {
    if(spinAdvancer == 0) {
      spinAdvancer = 3;
    }
    else {
      spinAdvancer--;
    }
    initialMillis = millis();
  }
  else {

  }

  for(int i = shooterLeftStart; i <= (shooterLeftEnd - shooterLeftStart + 1); i++) {
    if((shooterLeftEnd - i) % 4 == spinAdvancer) {
      strip.setPixelColor(shooterLeftEnd - i, 100, 0, 100);
    }
    else {
      strip.setPixelColor(shooterLeftEnd - i, 0, 0, 0);
    }
  }

  for(int i = shooterRightStart; i <= (shooterRightEnd - shooterRightStart + 1); i++) {
    if(shooterRightEnd - i) % 4 == spinAdvancer) {
      strip.setPixelColor(shooterRightEnd - i, 100, 0, 100);
    }
    else {
      strip.setPixelColor(shooterRightEnd - i, 0, 0, 0);
    }
  }
}

//Used whne a cube has been detected by the ultrasonic or when the shooter is sped up to full speed.
void flash() {
  if(isCubeDetection) {
    switch(flashState) {
    case 0:
      if(millis() - 250 >= initialMillis) {
        for(int i = shooterLeftStart; i <= shooterLeftEnd; i++) {
          strip.setPixelColor(i, 0, 100, 0);
        }
        for(int i = shooterRightStart; i <= shooterRightEnd; i++) {
          strip.setPixelColor(i, 0, 100, 0);
        }

        initialMillis = millis();
        flashState = 1;
      }
      break;
    case 1:
      if(millis() - 250 >= initialMillis) {
        for(int i = shooterLeftStart; i <= shooterLeftEnd; i++) {
          strip.setPixelColor(i, 0, 0, 0);
        }
        for(int i = shooterRightStart; i <= shooterRightEnd; i++) {
          strip.setPixelColor(i, 0, 0, 0);
        }

        initialMillis = millis();
        flashState = 0;
      }
      break;
    }
  }
  else {
    switch(flashState) {
    case 0:
      if(millis() - 250 >= initialMillis) {
        for(int i = shooterLeftStart; i <= shooterLeftEnd; i++) {
          strip.setPixelColor(i, 100, 0, 100);
        }
        for(int i = shooterRightStart; i <= shooterRightEnd; i++) {
          strip.setPixelColor(i, 100, 0, 100);
        }

        initialMillis = millis();
        flashState = 1;
      }
      break;
    case 1:
      if(millis() - 250 >= initialMillis) {
        for(int i = shooterLeftStart; i <= shooterLeftEnd; i++) {
          strip.setPixelColor(i, 0, 0, 0);
        }
        for(int i = shooterRightStart; i <= shooterRightEnd; i++) {
          strip.setPixelColor(i, 0, 0, 0);
        }

        initialMillis = millis();
        flashState = 0;
      }
      break;
    }
  }
}

//Used when no other commands are running on the lights.
void sparkle() {
  int Pixel1 = random(shooterLeftStart, shooterLeftEnd);
  int Pixel2 = random(shooterRightStart, shooterRightEnd);

  strip.setPixelColor(Pixel1, 100, 0, 100);
  strip.setPixelColor(Pixel2, 100, 0, 100);
  strip.show();
  delay(3);
  strip.setPixelColor(Pixel1, 0, 0, 0);
  strip.setPixelColor(Pixel2, 0, 0, 0);
  strip.show();
}