I2c color sensor ian

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
-  "enableCppIntellisense": false,
-  "currentLanguage": "java",
-  "projectYear": "2027_alpha7",
-  "teamNumber": 6328
+    "enableCppIntellisense": false,
+    "currentLanguage": "java",
+    "projectYear": "2027_alpha7",
+    "teamNumber": 1425
 }

src/main/java/first/robot/RobotContainer.java

@@ -16,6 +16,9 @@
 import first.generated.CompTunerConstants;
 import first.robot.Constants.DriveConstants;
 import first.robot.commands.drive.DriveCommands;
+import first.robot.subsystems.colorsensor.ColorSensor;
+import first.robot.subsystems.colorsensor.ColorSensorIO;
+import first.robot.subsystems.colorsensor.ColorSensorIORev;
 import first.robot.subsystems.drive.Drive;
 import first.robot.subsystems.drive.GyroIO;
 import first.robot.subsystems.drive.GyroIOPigeon2;
@@ -31,12 +34,14 @@
 import org.wpilib.command2.Commands;
 import org.wpilib.command2.button.CommandXboxController;
 import org.wpilib.hardware.bus.CANPort;
+import org.wpilib.hardware.bus.I2C;
 
 public class RobotContainer {
 
   private Drive drive;
   private AprilTagVision vision;
   private Motor motor;
+  private ColorSensor colorSensor;
 
   private final CommandXboxController gamepad = new CommandXboxController(0);
 
@@ -57,6 +62,8 @@ public RobotContainer() {
 
         motor = new Motor(new MotorIOHardware(4, new CANBus(CANPort.CAN_S4)));
 
+        colorSensor = new ColorSensor(new ColorSensorIORev(I2C.Port.PORT_1));
+
         vision =
             new AprilTagVision(
                 drive::addVisionMeasurement,
@@ -93,6 +100,10 @@ public RobotContainer() {
       motor = new Motor(new MotorIO() {});
     }
 
+    if (colorSensor == null) {
+      colorSensor = new ColorSensor(new ColorSensorIO() {});
+    }
+
     if (vision == null) {
       vision = new AprilTagVision(drive::addVisionMeasurement, new CameraIO() {});
     }

src/main/java/first/robot/subsystems/colorsensor/ColorSensor.java

@@ -0,0 +1,26 @@
+// Copyright (c) 2026 FRC 1425 Error Code Xero
+// http://github.com/errorcodexero
+//
+// Use of this source code is governed by an MIT-style
+// license that can be found in the LICENSE file at
+// the root directory of this project.
+
+package first.robot.subsystems.colorsensor;
+
+import org.littletonrobotics.junction.Logger;
+import org.wpilib.command2.SubsystemBase;
+
+public class ColorSensor extends SubsystemBase {
+  private final ColorSensorIO io;
+  private final ColorSensorInputsAutoLogged inputs = new ColorSensorInputsAutoLogged();
+
+  public ColorSensor(ColorSensorIO io) {
+    this.io = io;
+  }
+
+  @Override
+  public void periodic() {
+    io.updateInputs(inputs);
+    Logger.processInputs("ColorSensor", inputs);
+  }
+}

src/main/java/first/robot/subsystems/colorsensor/ColorSensorIO.java

@@ -0,0 +1,24 @@
+// Copyright (c) 2026 FRC 1425 Error Code Xero
+// http://github.com/errorcodexero
+//
+// Use of this source code is governed by an MIT-style
+// license that can be found in the LICENSE file at
+// the root directory of this project.
+
+package first.robot.subsystems.colorsensor;
+
+import org.littletonrobotics.junction.AutoLog;
+import org.wpilib.util.Color;
+
+public interface ColorSensorIO {
+  @AutoLog
+  public static class ColorSensorInputs {
+    public boolean connected = false;
+
+    public int[] rawColor = {0, 0, 0, 0}; // red, green, blue, ir
+    public Color color = Color.BLACK;
+    public int proximity = 0;
+  }
+
+  public default void updateInputs(ColorSensorInputs inputs) {}
+}

src/main/java/first/robot/subsystems/colorsensor/ColorSensorIORev.java

@@ -0,0 +1,34 @@
+// Copyright (c) 2026 FRC 1425 Error Code Xero
+// http://github.com/errorcodexero
+//
+// Use of this source code is governed by an MIT-style
+// license that can be found in the LICENSE file at
+// the root directory of this project.
+
+package first.robot.subsystems.colorsensor;
+
+import com.revrobotics.ColorSensorV3;
+import com.revrobotics.ColorSensorV3.RawColor;
+import org.wpilib.hardware.bus.I2C.Port;
+
+public class ColorSensorIORev implements ColorSensorIO {
+  private final ColorSensorV3 sensor;
+
+  public ColorSensorIORev(Port i2CPort) {
+    sensor = new ColorSensorV3(i2CPort);
+  }
+
+  @Override
+  public void updateInputs(ColorSensorInputs inputs) {
+    inputs.connected = sensor.isConnected();
+
+    RawColor rawColor = sensor.getRawColor();
+
+    inputs.rawColor[0] = rawColor.red;
+    inputs.rawColor[1] = rawColor.green;
+    inputs.rawColor[2] = rawColor.blue;
+    inputs.rawColor[3] = rawColor.ir;
+    inputs.color = sensor.getColor();
+    inputs.proximity = sensor.getProximity();
+  }
+}

vendordeps/REVLib.json

@@ -0,0 +1,126 @@
+{
+  "fileName": "REVLib.json",
+  "name": "REVLib",
+  "version": "2027.0.0-alpha-9",
+  "wpilibYear": "2027_alpha7",
+  "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+  "mavenUrls": [
+    "https://maven.revrobotics.com/"
+  ],
+  "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2027.json",
+  "javaDependencies": [
+    {
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "REVLib-java",
+      "version": "2027.0.0-alpha-9"
+    }
+  ],
+  "jniDependencies": [
+    {
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "REVLib-driver",
+      "version": "2027.0.0-alpha-9",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxarm64",
+        "linuxx86-64",
+        "linuxsystemcore",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "RevLibBackendDriver",
+      "version": "2027.0.0-alpha-9",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxarm64",
+        "linuxx86-64",
+        "linuxsystemcore",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "RevLibWpiBackendDriver",
+      "version": "2027.0.0-alpha-9",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxarm64",
+        "linuxx86-64",
+        "linuxsystemcore",
+        "osxuniversal"
+      ]
+    }
+  ],
+  "cppDependencies": [
+    {
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "REVLib-cpp",
+      "version": "2027.0.0-alpha-9",
+      "libName": "REVLib",
+      "headerClassifier": "headers",
+      "sharedLibrary": false,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxarm64",
+        "linuxx86-64",
+        "linuxsystemcore",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "REVLib-driver",
+      "version": "2027.0.0-alpha-9",
+      "libName": "REVLibDriver",
+      "headerClassifier": "headers",
+      "sharedLibrary": false,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxarm64",
+        "linuxx86-64",
+        "linuxsystemcore",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "RevLibBackendDriver",
+      "version": "2027.0.0-alpha-9",
+      "libName": "BackendDriver",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxarm64",
+        "linuxx86-64",
+        "linuxsystemcore",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "com.revrobotics.frc",
+      "artifactId": "RevLibWpiBackendDriver",
+      "version": "2027.0.0-alpha-9",
+      "libName": "REVLibWpi",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxarm64",
+        "linuxx86-64",
+        "linuxsystemcore",
+        "osxuniversal"
+      ]
+    }
+  ]
+}