edu.wpi.first.wpilibj.command

Class Subsystem

java.lang.Object

edu.wpi.first.wpilibj.command.Subsystem

All Implemented Interfaces:

NamedSendable, Sendable

Direct Known Subclasses:

PIDSubsystem

public abstract class Subsystem
extends Object
implements NamedSendable

This class defines a major component of the robot.

A good example of a subsystem is the driveline, or a claw if the robot has one.

All motors should be a part of a subsystem. For instance, all the wheel motors should be a part of some kind of "Driveline" subsystem.

Subsystems are used within the command system as requirements for Command. Only one command which requires a subsystem can run at a time. Also, subsystems can have default commands which are started if there is no command running which requires this subsystem.

Author:

Joe Grinstead

See Also:

Command

Constructor Summary

Constructors

Constructor and Description
Subsystem() Creates a subsystem.
Subsystem(String name) Creates a subsystem with the given name

Method Summary

Modifier and Type	Method and Description
Command	getCurrentCommand() Returns the command which currently claims this subsystem.
protected Command	getDefaultCommand() Returns the default command (or null if there is none).
String	getName() Returns the name of this subsystem, which is by default the class name.
String	getSmartDashboardType()
edu.wpi.first.wpilibj.tables.ITable	getTable()
protected abstract void	initDefaultCommand() Initialize the default command for a subsystem By default subsystems have no default command, but if they do, the default command is set with this method.
void	initTable(edu.wpi.first.wpilibj.tables.ITable table) Initializes a table for this sendable object.
protected void	setDefaultCommand(Command command) Sets the default command.
String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Subsystem

public Subsystem(String name)

Creates a subsystem with the given name

Parameters:

name - the name of the subsystem

Subsystem

public Subsystem()

Creates a subsystem. This will set the name to the name of the class.

Method Detail

initDefaultCommand

protected abstract void initDefaultCommand()

Initialize the default command for a subsystem By default subsystems have no default command, but if they do, the default command is set with this method. It is called on all Subsystems by CommandBase in the users program after all the Subsystems are created.

setDefaultCommand

protected void setDefaultCommand(Command command)

Sets the default command. If this is not called or is called with null, then there will be no default command for the subsystem.

WARNING: This should NOT be called in a constructor if the subsystem is a singleton.

Parameters:

command - the default command (or null if there should be none)

Throws:

IllegalUseOfCommandException - if the command does not require the subsystem

getDefaultCommand

protected Command getDefaultCommand()

Returns the default command (or null if there is none).

Returns:

the default command

getCurrentCommand

public Command getCurrentCommand()

Returns the command which currently claims this subsystem.

Returns:

the command which currently claims this subsystem

toString

public String toString()

Overrides:

toString in class Object

getName

public String getName()

Returns the name of this subsystem, which is by default the class name.

Specified by:

getName in interface NamedSendable

Returns:

the name of this subsystem

getSmartDashboardType

public String getSmartDashboardType()

Specified by:

getSmartDashboardType in interface Sendable

Returns:

the string representation of the named data type that will be used by the smart dashboard for this sendable

initTable

public void initTable(edu.wpi.first.wpilibj.tables.ITable table)

Description copied from interface: Sendable

Initializes a table for this sendable object.

Specified by:

initTable in interface Sendable

Parameters:

table - The table to put the values in.

getTable

public edu.wpi.first.wpilibj.tables.ITable getTable()

Specified by:

getTable in interface Sendable

Returns:

the table that is currently associated with the sendable