Package com.crossbotics.ftchelper.core

Interface Subsystem

All Known Subinterfaces:
AngleDevice, Feeder, PathFollower, TargetSource
All Known Implementing Classes:
Arm, Camera, Claw, DeadWheelOdometry, Flywheel, Hood, Indexer, Intake, Launcher, Launcher, Lift, Lights, LimelightTags, Module, MotorFeeder, MotorPositions, OtosOdometry, Pieces, PieceSensor, PinpointOdometry, PoseTracker, Positioner, PositionMotor, PositionServo, ServoFeeder, ServoPositions, SpinMotor, SpinServo, Subsystems, Turret, Turret, WebcamTags, Wrist
public interface Subsystem
One part of the robot (a lift, a claw, an intake, a launcher) that needs a little work every loop.

Every mechanism helper in this library is a Subsystem, and your own classes can be one too. Put them in a Subsystems group and call update() once per loop: every part is updated, in TeleOp and in autonomous.

Java note: an "interface" is a promise, a list of methods a class says it has. Any class that writes implements Subsystem promises to have update(), so a Subsystems group can call it without knowing what the part is. Methods marked "default" come with a ready-made version (here: do nothing), so you only write them if your part needs them. 


 public class Bucket implements Subsystem {
     public void update() { ... }                       // talk to the hardware here
     public void stop() { motor.setPower(0); }          // optional
     public void addTelemetry(RobotTelemetry t) { ... } // optional
 }

Making your own: docs/guides/extending.md. Why update() must never wait: docs/guides/non-blocking.md. Docs: docs/modules/core.md

  • Method Summary

    Modifier and Type
    Method
    Description
    default void
    addTelemetry(RobotTelemetry t)
    Adds this part's lines to the telemetry.
    default String
    name()
    The name shown in telemetry and in the hardware check.
    default void
    stop()
    Stops all motion.
    void
    update()
    Called once every loop.

  • Method Details

    • update

      void update()
      Called once every loop. Do the hardware work here. Must be quick: no sleep, no waiting. While update() waits, the whole robot is frozen (no driving, no limits, no STOP).

    • stop

      default void stop()
      Stops all motion. Called at the end of every OpMode.

    • addTelemetry

      default void addTelemetry(RobotTelemetry t)
      Adds this part's lines to the telemetry. Use t.line for drivers, t.debug for programmers.

    • name

      default String name()
      The name shown in telemetry and in the hardware check.