Add support for Philips Color Kinetics LEDs in vault.

db/migrations/20140524160241_CreateEventSettings.sql

@@ -29,7 +29,9 @@ CREATE TABLE event_settings (
   stemtveventcode VARCHAR(16),
   scaleledaddress VARCHAR(255),
   redswitchledaddress VARCHAR(255),
-  blueswitchledaddress VARCHAR(255)
+  blueswitchledaddress VARCHAR(255),
+  redvaultledaddress VARCHAR(255),
+  bluevaultledaddress VARCHAR(255)
 );
 
 -- +goose Down

field/arena.go

@@ -11,6 +11,7 @@ import (
 	"github.com/Team254/cheesy-arena/led"
 	"github.com/Team254/cheesy-arena/model"
 	"github.com/Team254/cheesy-arena/partner"
+	"github.com/Team254/cheesy-arena/vaultled"
 	"log"
 	"math/rand"
 	"time"
@@ -83,6 +84,8 @@ type Arena struct {
 	ScaleLeds                      led.Controller
 	RedSwitchLeds                  led.Controller
 	BlueSwitchLeds                 led.Controller
+	RedVaultLeds                   vaultled.Controller
+	BlueVaultLeds                  vaultled.Controller
 	warmupLedMode                  led.Mode
 	lastRedAllianceReady           bool
 	lastBlueAllianceReady          bool
@@ -189,6 +192,12 @@ func (arena *Arena) LoadSettings() error {
 	if err = arena.BlueSwitchLeds.SetAddress(settings.BlueSwitchLedAddress); err != nil {
 		return err
 	}
+	if err = arena.RedVaultLeds.SetAddress(settings.RedVaultLedAddress); err != nil {
+		return err
+	}
+	if err = arena.BlueVaultLeds.SetAddress(settings.BlueVaultLedAddress); err != nil {
+		return err
+	}
 
 	return nil
 }
@@ -257,6 +266,8 @@ func (arena *Arena) LoadMatch(match *model.Match) error {
 	arena.ScaleLeds.SetMode(led.OffMode, led.OffMode)
 	arena.RedSwitchLeds.SetMode(led.RedMode, led.RedMode)
 	arena.BlueSwitchLeds.SetMode(led.BlueMode, led.BlueMode)
+	arena.RedVaultLeds.SetAllModes(vaultled.OffMode)
+	arena.BlueVaultLeds.SetAllModes(vaultled.OffMode)
 	arena.lastRedAllianceReady = false
 	arena.lastBlueAllianceReady = false
 
@@ -807,6 +818,8 @@ func (arena *Arena) handleLeds() {
 		handleSeesawTeleopLeds(arena.Scale, &arena.ScaleLeds)
 		handleSeesawTeleopLeds(arena.RedSwitch, &arena.RedSwitchLeds)
 		handleSeesawTeleopLeds(arena.BlueSwitch, &arena.BlueSwitchLeds)
+		handleVaultTeleopLeds(arena.RedVault, &arena.RedVaultLeds)
+		handleVaultTeleopLeds(arena.BlueVault, &arena.BlueVaultLeds)
 	case PausePeriod:
 		arena.ScaleLeds.SetMode(led.OffMode, led.OffMode)
 		arena.RedSwitchLeds.SetMode(led.OffMode, led.OffMode)
@@ -822,11 +835,15 @@ func (arena *Arena) handleLeds() {
 		arena.ScaleLeds.SetMode(mode, mode)
 		arena.RedSwitchLeds.SetMode(mode, mode)
 		arena.BlueSwitchLeds.SetMode(mode, mode)
+		arena.RedVaultLeds.SetAllModes(vaultled.OffMode)
+		arena.BlueVaultLeds.SetAllModes(vaultled.OffMode)
 	}
 
 	arena.ScaleLeds.Update()
 	arena.RedSwitchLeds.Update()
 	arena.BlueSwitchLeds.Update()
+	arena.RedVaultLeds.Update()
+	arena.BlueVaultLeds.Update()
 }
 
 func handleSeesawTeleopLeds(seesaw *game.Seesaw, leds *led.Controller) {
@@ -867,6 +884,33 @@ func handleSeesawTeleopLeds(seesaw *game.Seesaw, leds *led.Controller) {
 	}
 }
 
+func handleVaultTeleopLeds(vault *game.Vault, leds *vaultled.Controller) {
+	playedMode := vaultled.RedPlayedMode
+	if vault.Alliance == game.BlueAlliance {
+		playedMode = vaultled.BluePlayedMode
+	}
+	cubesModeMap := map[int]vaultled.Mode{0: vaultled.OffMode, 1: vaultled.OneCubeMode, 2: vaultled.TwoCubeMode,
+		3: vaultled.ThreeCubeMode}
+
+	if vault.ForcePowerUp != nil {
+		leds.SetForceMode(playedMode)
+	} else {
+		leds.SetForceMode(cubesModeMap[vault.ForceCubes])
+	}
+
+	if vault.LevitatePlayed {
+		leds.SetLevitateMode(playedMode)
+	} else {
+		leds.SetLevitateMode(cubesModeMap[vault.LevitateCubes])
+	}
+
+	if vault.BoostPowerUp != nil {
+		leds.SetBoostMode(playedMode)
+	} else {
+		leds.SetBoostMode(cubesModeMap[vault.BoostCubes])
+	}
+}
+
 func (arena *Arena) handleEstop(station string, state bool) {
 	allianceStation := arena.AllianceStations[station]
 	if state {

led/color.go

@@ -5,36 +5,36 @@
 
 package led
 
-type color int
+type Color int
 
 const (
-	red color = iota
-	orange
-	yellow
-	green
-	teal
-	blue
-	purple
-	white
-	black
-	purpleRed
-	purpleBlue
-	dimRed
-	dimBlue
+	Red Color = iota
+	Orange
+	Yellow
+	Green
+	Teal
+	Blue
+	Purple
+	White
+	Black
+	PurpleRed
+	PurpleBlue
+	DimRed
+	DimBlue
 )
 
-var colors = map[color][3]byte{
-	red:        {255, 0, 0},
-	orange:     {255, 50, 0},
-	yellow:     {255, 255, 0},
-	green:      {0, 255, 0},
-	teal:       {0, 100, 100},
-	blue:       {0, 0, 255},
-	purple:     {100, 0, 100},
-	white:      {255, 255, 255},
-	black:      {0, 0, 0},
-	purpleRed:  {200, 0, 50},
-	purpleBlue: {50, 0, 200},
-	dimRed:     {50, 0, 0},
-	dimBlue:    {0, 0, 50},
+var Colors = map[Color][3]byte{
+	Red:        {255, 0, 0},
+	Orange:     {255, 50, 0},
+	Yellow:     {255, 255, 0},
+	Green:      {0, 255, 0},
+	Teal:       {0, 100, 100},
+	Blue:       {0, 0, 255},
+	Purple:     {100, 0, 100},
+	White:      {255, 255, 255},
+	Black:      {0, 0, 0},
+	PurpleRed:  {200, 0, 50},
+	PurpleBlue: {50, 0, 200},
+	DimRed:     {50, 0, 0},
+	DimBlue:    {0, 0, 50},
 }

led/controller.go

@@ -103,7 +103,7 @@ func (controller *Controller) Update() error {
 // Constructs the structure of an E1.31 data packet that can be re-used indefinitely by updating the pixel data and
 // re-sending it.
 func createBlankPacket(numPixels int) []byte {
-	size := 126 + 3*numPixels
+	size := pixelDataOffset + 3*numPixels
 	packet := make([]byte, size)
 
 	// Preamble size

led/strip.go

@@ -23,15 +23,15 @@ type strip struct {
 func (strip *strip) updatePixels() {
 	switch strip.currentMode {
 	case RedMode:
-		strip.updateSingleColorMode(red)
+		strip.updateSingleColorMode(Red)
 	case GreenMode:
-		strip.updateSingleColorMode(green)
+		strip.updateSingleColorMode(Green)
 	case BlueMode:
-		strip.updateSingleColorMode(blue)
+		strip.updateSingleColorMode(Blue)
 	case WhiteMode:
-		strip.updateSingleColorMode(white)
+		strip.updateSingleColorMode(White)
 	case PurpleMode:
-		strip.updateSingleColorMode(purple)
+		strip.updateSingleColorMode(Purple)
 	case ChaseMode:
 		strip.updateChaseMode()
 	case WarmupMode:
@@ -90,43 +90,43 @@ func (strip *strip) populatePacketPixels(pixelData []byte) {
 }
 
 // Returns the primary color (red or blue) of this strip.
-func (strip *strip) getColor() color {
+func (strip *strip) getColor() Color {
 	if strip.isRed {
-		return red
+		return Red
 	}
-	return blue
+	return Blue
 }
 
 // Returns the opposite primary color (red or blue) to this strip.
-func (strip *strip) getOppositeColor() color {
+func (strip *strip) getOppositeColor() Color {
 	if strip.isRed {
-		return blue
+		return Blue
 	}
-	return red
+	return Red
 }
 
 // Returns a color partway between purple and the primary color (red or blue) of this strip.
-func (strip *strip) getMidColor() color {
+func (strip *strip) getMidColor() Color {
 	if strip.isRed {
-		return purpleBlue
+		return PurpleBlue
 	}
-	return purpleRed
+	return PurpleRed
 }
 
 // Returns a dim version of the primary color (red or blue) of this strip.
-func (strip *strip) getDimColor() color {
+func (strip *strip) getDimColor() Color {
 	if strip.isRed {
-		return dimRed
+		return DimRed
 	}
-	return dimBlue
+	return DimBlue
 }
 
 // Returns a dim version of the opposite primary color (red or blue) of this strip.
-func (strip *strip) getDimOppositeColor() color {
+func (strip *strip) getDimOppositeColor() Color {
 	if strip.isRed {
-		return dimBlue
+		return DimBlue
 	}
-	return dimRed
+	return DimRed
 }
 
 // Returns the starting offset for the gradient mode for this strip.
@@ -139,23 +139,23 @@ func (strip *strip) getGradientStartOffset() int {
 
 func (strip *strip) updateOffMode() {
 	for i := 0; i < numPixels; i++ {
-		strip.pixels[i] = colors[black]
+		strip.pixels[i] = Colors[Black]
 	}
 }
 
-func (strip *strip) updateSingleColorMode(color color) {
+func (strip *strip) updateSingleColorMode(color Color) {
 	for i := 0; i < numPixels; i++ {
-		strip.pixels[i] = colors[color]
+		strip.pixels[i] = Colors[color]
 	}
 }
 
 func (strip *strip) updateChaseMode() {
-	if strip.counter == int(black)*numPixels { // Ignore colors listed after white.
+	if strip.counter == int(Black)*numPixels { // Ignore colors listed after white.
 		strip.counter = 0
 	}
-	color := color(strip.counter / numPixels)
+	color := Color(strip.counter / numPixels)
 	pixelIndex := strip.counter % numPixels
-	strip.pixels[pixelIndex] = colors[color]
+	strip.pixels[pixelIndex] = Colors[color]
 }
 
 func (strip *strip) updateWarmupMode() {
@@ -163,14 +163,14 @@ func (strip *strip) updateWarmupMode() {
 	if strip.counter == 0 {
 		// Show solid white to start.
 		for i := 0; i < numPixels; i++ {
-			strip.pixels[i] = colors[white]
+			strip.pixels[i] = Colors[White]
 		}
 	} else if strip.counter <= endCounter {
 		// Build to the alliance color from each side.
 		numLitPixels := numPixels / 2 * strip.counter / endCounter
 		for i := 0; i < numLitPixels; i++ {
-			strip.pixels[i] = colors[strip.getColor()]
-			strip.pixels[numPixels-i-1] = colors[strip.getColor()]
+			strip.pixels[i] = Colors[strip.getColor()]
+			strip.pixels[numPixels-i-1] = Colors[strip.getColor()]
 		}
 	} else {
 		// Prevent the counter from rolling over.
@@ -184,11 +184,11 @@ func (strip *strip) updateWarmup2Mode() {
 	if strip.counter < startCounter {
 		// Show solid purple to start.
 		for i := 0; i < numPixels; i++ {
-			strip.pixels[i] = colors[purple]
+			strip.pixels[i] = Colors[Purple]
 		}
 	} else if strip.counter <= endCounter {
 		for i := 0; i < numPixels; i++ {
-			strip.pixels[i] = getFadeColor(purple, strip.getColor(), strip.counter-startCounter,
+			strip.pixels[i] = getFadeColor(Purple, strip.getColor(), strip.counter-startCounter,
 				endCounter-startCounter)
 		}
 	} else {
@@ -204,11 +204,11 @@ func (strip *strip) updateWarmup3Mode() {
 	if strip.counter < startCounter {
 		// Show solid purple to start.
 		for i := 0; i < numPixels; i++ {
-			strip.pixels[i] = colors[purple]
+			strip.pixels[i] = Colors[Purple]
 		}
 	} else if strip.counter < middleCounter {
 		for i := 0; i < numPixels; i++ {
-			strip.pixels[i] = getFadeColor(purple, strip.getMidColor(), strip.counter-startCounter,
+			strip.pixels[i] = getFadeColor(Purple, strip.getMidColor(), strip.counter-startCounter,
 				middleCounter-startCounter)
 		}
 	} else if strip.counter <= endCounter {
@@ -230,7 +230,7 @@ func (strip *strip) updateWarmup4Mode() {
 	if strip.counter >= middleCounter {
 		for i := 0; i < numPixels; i++ {
 			if i < strip.counter-middleCounter {
-				strip.pixels[i] = colors[strip.getColor()]
+				strip.pixels[i] = Colors[strip.getColor()]
 			}
 		}
 	}
@@ -247,16 +247,16 @@ func (strip *strip) updateOwnedMode() {
 		case 0:
 			fallthrough
 		case 1:
-			strip.pixels[len(strip.pixels)-i-1] = colors[strip.getColor()]
+			strip.pixels[len(strip.pixels)-i-1] = Colors[strip.getColor()]
 		default:
-			strip.pixels[len(strip.pixels)-i-1] = colors[black]
+			strip.pixels[len(strip.pixels)-i-1] = Colors[Black]
 		}
 	}
 }
 
 func (strip *strip) updateNotOwnedMode() {
 	for i := 0; i < numPixels; i++ {
-		strip.pixels[i] = colors[strip.getDimColor()]
+		strip.pixels[i] = Colors[strip.getDimColor()]
 	}
 }
 
@@ -271,11 +271,11 @@ func (strip *strip) updateForceMode() {
 		case 2:
 			fallthrough
 		case 4:
-			strip.pixels[i] = colors[strip.getColor()]
+			strip.pixels[i] = Colors[strip.getColor()]
 		case 3:
-			strip.pixels[i] = colors[strip.getDimOppositeColor()]
+			strip.pixels[i] = Colors[strip.getDimOppositeColor()]
 		default:
-			strip.pixels[i] = colors[black]
+			strip.pixels[i] = Colors[Black]
 		}
 	}
 }
@@ -288,9 +288,9 @@ func (strip *strip) updateBoostMode() {
 	}
 	for i := 0; i < numPixels; i++ {
 		if i%pixelSpacing == strip.counter/speedDivisor%pixelSpacing {
-			strip.pixels[i] = colors[strip.getColor()]
+			strip.pixels[i] = Colors[strip.getColor()]
 		} else {
-			strip.pixels[i] = colors[black]
+			strip.pixels[i] = Colors[Black]
 		}
 	}
 }
@@ -300,7 +300,7 @@ func (strip *strip) updateRandomMode() {
 		return
 	}
 	for i := 0; i < numPixels; i++ {
-		strip.pixels[i] = colors[color(rand.Intn(int(black)))] // Ignore colors listed after white.
+		strip.pixels[i] = Colors[Color(rand.Intn(int(Black)))] // Ignore colors listed after white.
 	}
 }
 
@@ -313,21 +313,21 @@ func (strip *strip) updateFadeRedBlueMode() {
 
 	for i := 0; i < numPixels; i++ {
 		if strip.counter < holdCycles {
-			strip.pixels[i] = colors[black]
+			strip.pixels[i] = Colors[Black]
 		} else if strip.counter < holdCycles+fadeCycles {
-			strip.pixels[i] = getFadeColor(black, red, strip.counter-holdCycles, fadeCycles)
+			strip.pixels[i] = getFadeColor(Black, Red, strip.counter-holdCycles, fadeCycles)
 		} else if strip.counter < 2*holdCycles+fadeCycles {
-			strip.pixels[i] = colors[red]
+			strip.pixels[i] = Colors[Red]
 		} else if strip.counter < 2*holdCycles+2*fadeCycles {
-			strip.pixels[i] = getFadeColor(red, black, strip.counter-2*holdCycles-fadeCycles, fadeCycles)
+			strip.pixels[i] = getFadeColor(Red, Black, strip.counter-2*holdCycles-fadeCycles, fadeCycles)
 		} else if strip.counter < 3*holdCycles+2*fadeCycles {
-			strip.pixels[i] = colors[black]
+			strip.pixels[i] = Colors[Black]
 		} else if strip.counter < 3*holdCycles+3*fadeCycles {
-			strip.pixels[i] = getFadeColor(black, blue, strip.counter-3*holdCycles-2*fadeCycles, fadeCycles)
+			strip.pixels[i] = getFadeColor(Black, Blue, strip.counter-3*holdCycles-2*fadeCycles, fadeCycles)
 		} else if strip.counter < 4*holdCycles+3*fadeCycles {
-			strip.pixels[i] = colors[blue]
+			strip.pixels[i] = Colors[Blue]
 		} else if strip.counter < 4*holdCycles+4*fadeCycles {
-			strip.pixels[i] = getFadeColor(blue, black, strip.counter-4*holdCycles-3*fadeCycles, fadeCycles)
+			strip.pixels[i] = getFadeColor(Blue, Black, strip.counter-4*holdCycles-3*fadeCycles, fadeCycles)
 		}
 	}
 }
@@ -341,11 +341,11 @@ func (strip *strip) updateFadeSingleMode() {
 
 	for i := 0; i < numPixels; i++ {
 		if strip.counter < offCycles {
-			strip.pixels[i] = colors[black]
+			strip.pixels[i] = Colors[Black]
 		} else if strip.counter < offCycles+fadeCycles {
-			strip.pixels[i] = getFadeColor(black, strip.getColor(), strip.counter-offCycles, fadeCycles)
+			strip.pixels[i] = getFadeColor(Black, strip.getColor(), strip.counter-offCycles, fadeCycles)
 		} else if strip.counter < offCycles+2*fadeCycles {
-			strip.pixels[i] = getFadeColor(strip.getColor(), black, strip.counter-offCycles-fadeCycles, fadeCycles)
+			strip.pixels[i] = getFadeColor(strip.getColor(), Black, strip.counter-offCycles-fadeCycles, fadeCycles)
 		}
 	}
 }
@@ -360,17 +360,17 @@ func (strip *strip) updateBlinkMode() {
 	divisor := 10
 	for i := 0; i < numPixels; i++ {
 		if strip.counter%divisor < divisor/2 {
-			strip.pixels[i] = colors[white]
+			strip.pixels[i] = Colors[White]
 		} else {
-			strip.pixels[i] = colors[black]
+			strip.pixels[i] = Colors[Black]
 		}
 	}
 }
 
 // Interpolates between the two colors based on the given fraction.
-func getFadeColor(fromColor, toColor color, numerator, denominator int) [3]byte {
-	from := colors[fromColor]
-	to := colors[toColor]
+func getFadeColor(fromColor, toColor Color, numerator, denominator int) [3]byte {
+	from := Colors[fromColor]
+	to := Colors[toColor]
 	var fadeColor [3]byte
 	for i := 0; i < 3; i++ {
 		fadeColor[i] = byte(int(from[i]) + numerator*(int(to[i])-int(from[i]))/denominator)
@@ -382,10 +382,10 @@ func getFadeColor(fromColor, toColor color, numerator, denominator int) [3]byte
 func getGradientColor(offset, numPixels int) [3]byte {
 	offset %= numPixels
 	if 3*offset < numPixels {
-		return getFadeColor(red, green, 3*offset, numPixels)
+		return getFadeColor(Red, Green, 3*offset, numPixels)
 	} else if 3*offset < 2*numPixels {
-		return getFadeColor(green, blue, 3*offset-numPixels, numPixels)
+		return getFadeColor(Green, Blue, 3*offset-numPixels, numPixels)
 	} else {
-		return getFadeColor(blue, red, 3*offset-2*numPixels, numPixels)
+		return getFadeColor(Blue, Red, 3*offset-2*numPixels, numPixels)
 	}
 }

model/event_settings.go

@@ -35,6 +35,8 @@ type EventSettings struct {
 	ScaleLedAddress            string
 	RedSwitchLedAddress        string
 	BlueSwitchLedAddress       string
+	RedVaultLedAddress         string
+	BlueVaultLedAddress        string
 }
 
 const eventSettingsId = 0

templates/setup_field.html

@@ -86,6 +86,7 @@
       <legend>LEDs</legend>
       <form class="" action="/setup/field/test" method="POST">
         <div class="form-group">
+          <label>Switch/Scale</label>
           {{range $i, $name := .LedModeNames}}
             <div class="radio">
               <label>
@@ -95,6 +96,17 @@
             </div>
           {{end}}
         </div>
+        <div class="form-group">
+          <label>Vault</label>
+          {{range $i, $name := .VaultLedModeNames}}
+            <div class="radio">
+              <label>
+                <input type="radio" name="vaultMode" value="{{$i}}" onclick="this.form.submit()"
+                       {{if eq $.CurrentVaultLedMode $i}}checked{{end}}>{{$name}}
+              </label>
+            </div>
+          {{end}}
+        </div>
       </form>
     </div>
   </div>

templates/setup_settings.html

@@ -259,6 +259,18 @@
               <input type="text" class="form-control" name="blueSwitchLedAddress" value="{{.BlueSwitchLedAddress}}">
             </div>
           </div>
+          <div class="form-group">
+            <label class="col-lg-5 control-label">Red Vault Controller Address</label>
+            <div class="col-lg-7">
+              <input type="text" class="form-control" name="redVaultLedAddress" value="{{.RedVaultLedAddress}}">
+            </div>
+          </div>
+          <div class="form-group">
+            <label class="col-lg-5 control-label">Blue Vault Controller Address</label>
+            <div class="col-lg-7">
+              <input type="text" class="form-control" name="blueVaultLedAddress" value="{{.BlueVaultLedAddress}}">
+            </div>
+          </div>
         </fieldset>
         <div class="form-group">
           <div class="col-lg-7 col-lg-offset-5">

vaultled/controller.go

@@ -0,0 +1,199 @@
+// Copyright 2018 Team 254. All Rights Reserved.
+// Author: pat@patfairbank.com (Patrick Fairbank)
+//
+// Represents a Philips Color Kinetics LED controller with one output, as used in the 2018 vault.
+
+package vaultled
+
+import (
+	"fmt"
+	"github.com/Team254/cheesy-arena/led"
+	"net"
+	"time"
+)
+
+const (
+	port             = 6038
+	packetTimeoutSec = 1
+	numPixels        = 17
+	pixelDataOffset  = 21
+)
+
+type Controller struct {
+	CurrentForceMode    Mode
+	CurrentLevitateMode Mode
+	CurrentBoostMode    Mode
+	pixels              [numPixels][3]byte
+	oldPixels           [numPixels][3]byte
+	conn                net.Conn
+	packet              []byte
+	lastPacketTime      time.Time
+}
+
+func (controller *Controller) SetAddress(address string) error {
+	if controller.conn != nil {
+		controller.conn.Close()
+		controller.conn = nil
+	}
+
+	if address != "" {
+		var err error
+		if controller.conn, err = net.Dial("udp4", fmt.Sprintf("%s:%d", address, port)); err != nil {
+			return err
+		}
+	}
+
+	return nil
+}
+
+// Sets the current mode for the section of LEDs corresponding to the force powerup.
+func (controller *Controller) SetForceMode(mode Mode) {
+	controller.CurrentForceMode = mode
+	controller.setPixels(0, mode)
+}
+
+// Sets the current mode for the section of LEDs corresponding to the levitate powerup.
+func (controller *Controller) SetLevitateMode(mode Mode) {
+	controller.CurrentLevitateMode = mode
+	controller.setPixels(6, mode)
+}
+
+// Sets the current mode for the section of LEDs corresponding to the boost powerup.
+func (controller *Controller) SetBoostMode(mode Mode) {
+	controller.CurrentBoostMode = mode
+	controller.setPixels(12, mode)
+}
+
+// Sets the current mode for all sections of LEDs to the same value.
+func (controller *Controller) SetAllModes(mode Mode) {
+	controller.SetForceMode(mode)
+	controller.SetLevitateMode(mode)
+	controller.SetBoostMode(mode)
+}
+
+// Sends a packet if necessary. Should be called from a timed loop.
+func (controller *Controller) Update() error {
+	if controller.conn == nil {
+		// This controller is not configured; do nothing.
+		return nil
+	}
+
+	// Create the template packet if it doesn't already exist.
+	if len(controller.packet) == 0 {
+		controller.packet = createBlankPacket(numPixels)
+	}
+
+	// Send packets if the pixel values have changed.
+	if controller.shouldSendPacket() {
+		controller.populatePacketPixels(controller.packet[pixelDataOffset:])
+		controller.sendPacket()
+	}
+
+	return nil
+}
+
+func (controller *Controller) setPixels(offset int, mode Mode) {
+	for i := 0; i < 5; i++ {
+		controller.pixels[offset+i] = led.Colors[led.Black]
+	}
+
+	switch mode {
+	case ThreeCubeMode:
+		controller.pixels[offset+3] = led.Colors[led.Yellow]
+		fallthrough
+	case TwoCubeMode:
+		controller.pixels[offset+2] = led.Colors[led.Yellow]
+		fallthrough
+	case OneCubeMode:
+		controller.pixels[offset+1] = led.Colors[led.Yellow]
+	case RedPlayedMode:
+		for i := 0; i < 5; i++ {
+			controller.pixels[offset+i] = led.Colors[led.Red]
+		}
+	case BluePlayedMode:
+		for i := 0; i < 5; i++ {
+			controller.pixels[offset+i] = led.Colors[led.Blue]
+		}
+	}
+}
+
+// Constructs the structure of a KiNET data packet that can be re-used indefinitely by updating the pixel data and
+// re-sending it.
+func createBlankPacket(numPixels int) []byte {
+	size := pixelDataOffset + 3*numPixels
+	packet := make([]byte, size)
+
+	// Magic sequence
+	packet[0] = 0x04
+	packet[1] = 0x01
+	packet[2] = 0xdc
+	packet[3] = 0x4a
+
+	// Version
+	packet[4] = 0x01
+	packet[5] = 0x00
+
+	// Type
+	packet[6] = 0x01
+	packet[7] = 0x01
+
+	// Sequence
+	packet[8] = 0x00
+	packet[9] = 0x00
+	packet[10] = 0x00
+	packet[11] = 0x00
+
+	// Port
+	packet[12] = 0x00
+
+	// Padding
+	packet[13] = 0x00
+
+	// Flags
+	packet[14] = 0x00
+	packet[15] = 0x00
+
+	// Timer
+	packet[16] = 0xff
+	packet[17] = 0xff
+	packet[18] = 0xff
+	packet[19] = 0xff
+
+	// Universe
+	packet[20] = 0x00
+
+	// Remainder of packet is pixel data which will be populated whenever packet is sent.
+	return packet
+}
+
+// Returns true if the pixel data has changed.
+func (controller *Controller) shouldSendPacket() bool {
+	for i := 0; i < numPixels; i++ {
+		if controller.pixels[i] != controller.oldPixels[i] {
+			return true
+		}
+	}
+	return time.Since(controller.lastPacketTime).Seconds() > packetTimeoutSec
+}
+
+// Writes the pixel RGB values into the given packet in preparation for sending.
+func (controller *Controller) populatePacketPixels(pixelData []byte) {
+	for i, pixel := range controller.pixels {
+		pixelData[3*i] = pixel[0]
+		pixelData[3*i+1] = pixel[1]
+		pixelData[3*i+2] = pixel[2]
+	}
+
+	// Keep a record of the pixel values in order to detect future changes.
+	controller.oldPixels = controller.pixels
+	controller.lastPacketTime = time.Now()
+}
+
+func (controller *Controller) sendPacket() error {
+	_, err := controller.conn.Write(controller.packet)
+	if err != nil {
+		return err
+	}
+
+	return nil
+}

vaultled/mode.go

@@ -0,0 +1,26 @@
+// Copyright 2018 Team 254. All Rights Reserved.
+// Author: pat@patfairbank.com (Patrick Fairbank)
+//
+// Contains the set of display modes for the vault LEDs.
+
+package vaultled
+
+type Mode int
+
+const (
+	OffMode Mode = iota
+	OneCubeMode
+	TwoCubeMode
+	ThreeCubeMode
+	RedPlayedMode
+	BluePlayedMode
+)
+
+var ModeNames = map[Mode]string{
+	OffMode:        "Off",
+	OneCubeMode:    "One Cube",
+	TwoCubeMode:    "Two Cubes",
+	ThreeCubeMode:  "Three Cubes",
+	RedPlayedMode:  "Red Played",
+	BluePlayedMode: "Blue Played",
+}

web/setup_field.go

@@ -9,6 +9,7 @@ import (
 	"github.com/Team254/cheesy-arena/field"
 	"github.com/Team254/cheesy-arena/led"
 	"github.com/Team254/cheesy-arena/model"
+	"github.com/Team254/cheesy-arena/vaultled"
 	"log"
 	"net/http"
 	"strconv"
@@ -34,8 +35,11 @@ func (web *Web) fieldGetHandler(w http.ResponseWriter, r *http.Request) {
 		CoilNames               []string
 		CurrentLedMode          led.Mode
 		LedModeNames            map[led.Mode]string
+		CurrentVaultLedMode     vaultled.Mode
+		VaultLedModeNames       map[vaultled.Mode]string
 	}{web.arena.EventSettings, web.arena.AllianceStationDisplays, plc.GetInputNames(), plc.GetRegisterNames(),
-		plc.GetCoilNames(), web.arena.ScaleLeds.GetCurrentMode(), led.ModeNames}
+		plc.GetCoilNames(), web.arena.ScaleLeds.GetCurrentMode(), led.ModeNames,
+		web.arena.RedVaultLeds.CurrentForceMode, vaultled.ModeNames}
 	err = template.ExecuteTemplate(w, "base", data)
 	if err != nil {
 		handleWebErr(w, err)
@@ -83,6 +87,11 @@ func (web *Web) fieldTestPostHandler(w http.ResponseWriter, r *http.Request) {
 	web.arena.RedSwitchLeds.SetMode(ledMode, ledMode)
 	web.arena.BlueSwitchLeds.SetMode(ledMode, ledMode)
 
+	vaultMode, _ := strconv.Atoi(r.PostFormValue("vaultMode"))
+	vaultLedMode := vaultled.Mode(vaultMode)
+	web.arena.RedVaultLeds.SetAllModes(vaultLedMode)
+	web.arena.BlueVaultLeds.SetAllModes(vaultLedMode)
+
 	http.Redirect(w, r, "/setup/field", 303)
 }
 

web/setup_settings.go

@@ -73,6 +73,8 @@ func (web *Web) settingsPostHandler(w http.ResponseWriter, r *http.Request) {
 	eventSettings.ScaleLedAddress = r.PostFormValue("scaleLedAddress")
 	eventSettings.RedSwitchLedAddress = r.PostFormValue("redSwitchLedAddress")
 	eventSettings.BlueSwitchLedAddress = r.PostFormValue("blueSwitchLedAddress")
+	eventSettings.RedVaultLedAddress = r.PostFormValue("redVaultLedAddress")
+	eventSettings.BlueVaultLedAddress = r.PostFormValue("blueVaultLedAddress")
 
 	err := web.arena.Database.SaveEventSettings(eventSettings)
 	if err != nil {