LED Light thing, not tested yet. Also RunForTask

src/main/java/org/murraybridgebunyips/bunyipslib/subsystems/BlinkinLights.java

@@ -0,0 +1,61 @@
+package org.murraybridgebunyips.bunyipslib.subsystems;
+
+import com.qualcomm.hardware.rev.RevBlinkinLedDriver;
+
+import org.murraybridgebunyips.bunyipslib.BunyipsSubsystem;
+import org.murraybridgebunyips.bunyipslib.external.units.Measure;
+import org.murraybridgebunyips.bunyipslib.external.units.Time;
+import org.murraybridgebunyips.bunyipslib.tasks.RunForTask;
+import org.murraybridgebunyips.bunyipslib.tasks.bases.Task;
+
+public class BlinkinLights extends BunyipsSubsystem {
+    private final RevBlinkinLedDriver lights;
+    private final RevBlinkinLedDriver.BlinkinPattern defaultPattern;
+    private RevBlinkinLedDriver.BlinkinPattern currentPattern;
+
+    public BlinkinLights(RevBlinkinLedDriver light, RevBlinkinLedDriver.BlinkinPattern defaultBlinkPattern) {
+        lights = light;
+        defaultPattern = defaultBlinkPattern;
+        currentPattern = defaultBlinkPattern;
+
+        lights.setPattern(defaultPattern);
+    }
+
+    public void setPattern(RevBlinkinLedDriver.BlinkinPattern pattern) {
+        currentPattern = pattern;
+    }
+
+    public Task setPatternForTask(Measure<Time> duration, RevBlinkinLedDriver.BlinkinPattern pattern) {
+        return new RunForTask(duration, () -> currentPattern = pattern, this::resetPattern)
+                .onSubsystem(this, true)
+                .withName("Lights:" + pattern.name());
+    }
+
+    public RevBlinkinLedDriver.BlinkinPattern getPattern() {
+        return currentPattern;
+    }
+
+    public void resetPattern() {
+        currentPattern = defaultPattern;
+    }
+
+    public void turnOff() {
+        currentPattern = RevBlinkinLedDriver.BlinkinPattern.BLACK;
+    }
+
+    @Override
+    protected void onDisable() {
+        turnOff();
+    }
+
+    @Override
+    protected void onEnable() {
+        currentPattern = defaultPattern;
+    }
+
+    @Override
+    protected void periodic() {
+        opMode.telemetry.add("Current Pattern:" + currentPattern.name());
+        lights.setPattern(currentPattern);
+    }
+}

src/main/java/org/murraybridgebunyips/bunyipslib/tasks/RunForTask.java

@@ -11,9 +11,10 @@
  */
 public class RunForTask extends Task {
     private final Runnable callback;
+    private Runnable finishCallback;
 
     /**
-     * Subsystem-independent task.
+     * A runnable that will run until timeout.
      *
      * @param timeout  The time to run the task for
      * @param callback The callback to run every loop
@@ -24,9 +25,29 @@ public RunForTask(Measure<Time> timeout, Runnable callback) {
         withName("Run For");
     }
 
+    /**
+     * A runnable that will run until timeout, with a finish callback.
+     *
+     * @param timeout        The time to run the task for
+     * @param callback       The callback to run every loop
+     * @param finishCallback The callback to run after this task finishes
+     */
+    public RunForTask(Measure<Time> timeout, Runnable callback, Runnable finishCallback) {
+        super(timeout);
+        this.callback = callback;
+        this.finishCallback = finishCallback;
+        withName("Run For");
+    }
+
     @Override
     protected void periodic() {
-        // no-op
+        callback.run();
+    }
+
+    @Override
+    protected void onFinish() {
+        if (finishCallback != null)
+            finishCallback.run();
     }
 
     @Override