strykeforce/not-very-stronghold

Off-season student learning robot

not-very-stronghold

Adding a Subsystem

Follow these steps for each subsystem.

Annotate the subsystem with @Singleton to allow only one copy of this class to be created.

// Coconut.java
@Singleton
public class Coconut extends Subsystem {
  // ...

Annotate the subsystem constructor with @Inject to allow the class to be automatically instantiated by dependency injection. If using Talons, add Talons to the constructor to have it injected for your use.

Add talons to the TelemetryService to allow graphing.

// Coconut.java
@Inject
public Coconut(Talons talons) {
  coconutTalon = talons.getTalon(40); // get pre-configured Talon
  Robot.COMPONENTS.telemetryService().register(new TalonItem(coconutTalon, "Coconut Talon (40)")); // add Talon to grapher
  // ...

Add a method declaration for getting the subsystem instance to the RobotComponents interface.

// RobotComponents.java
Coconut coconutSubsystem();

Using a Subsystem

Once a subsystem is configured you can use it in commands, for example:

// CoconutStop.java
public class CoconutStop extends InstantCommand {
  private final Coconut COCONUT = Robot.COMPONENTS.coconutSubsystem();

  @Override
  protected void initialize() {
    COCONUT.stop();
  }

  public CoconutStop() {
    requires(COCONUT);
  }
}

Talons

Subsystem	Talon	ID	PDP
Drive	left-master	0
Drive	right-master	1
Drive	left-slave-1	2
Drive	right-slave-1	3
Drive	left-slave-2	4
Drive	right-slave-2	5
Shooter	left	20
Shooter	right	21
Shooter-shoulder	elevation	30
Coconut	coconut	40
Intake	shoulder-left	50
Intake	shoulder-right	51
Intake	roller	52