Robot Core Documentation
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Public Member Functions | |
default void | periodic () |
default void | simulationPeriodic () |
default String | getName () |
default void | setDefaultCommand (Command defaultCommand) |
default void | removeDefaultCommand () |
default Command | getDefaultCommand () |
default Command | getCurrentCommand () |
default void | register () |
default Command | runOnce (Runnable action) |
default Command | run (Runnable action) |
default Command | startEnd (Runnable start, Runnable end) |
default Command | runEnd (Runnable run, Runnable end) |
default Command | defer (Supplier< Command > supplier) |
A robot subsystem. Subsystems are the basic unit of robot organization in the Command-based framework; they encapsulate low-level hardware objects (motor controllers, sensors, etc.) and provide methods through which they can be used by Command
s. Subsystems are used by the CommandScheduler
's resource management system to ensure multiple robot actions are not "fighting" over the same hardware; Commands that use a subsystem should include that subsystem in their Command#getRequirements()
method, and resources used within a subsystem should generally remain encapsulated and not be shared by other parts of the robot.
Subsystems must be registered with the scheduler with the CommandScheduler#registerSubsystem(Subsystem...)
method in order for the Subsystem#periodic()
method to be called. It is recommended that this method be called from the constructor of users' Subsystem implementations. The SubsystemBase
class offers a simple base for user implementations that handles this.
This class is provided by the NewCommands VendorDep
Constructs a DeferredCommand
with the provided supplier. This subsystem is added as a requirement.
supplier | the command supplier. |
default Command edu.wpi.first.wpilibj2.command.Subsystem.getCurrentCommand | ( | ) |
Returns the command currently running on this subsystem. Returns null if no command is currently scheduled that requires this subsystem.
default Command edu.wpi.first.wpilibj2.command.Subsystem.getDefaultCommand | ( | ) |
Gets the default command for this subsystem. Returns null if no default command is currently associated with the subsystem.
default String edu.wpi.first.wpilibj2.command.Subsystem.getName | ( | ) |
Gets the subsystem name of this Subsystem.
Implemented in edu.wpi.first.wpilibj2.command.SubsystemBase.
default void edu.wpi.first.wpilibj2.command.Subsystem.periodic | ( | ) |
This method is called periodically by the CommandScheduler
. Useful for updating subsystem-specific state that you don't want to offload to a Command
. Teams should try to be consistent within their own codebases about which responsibilities will be handled by Commands, and which will be handled here.
default void edu.wpi.first.wpilibj2.command.Subsystem.register | ( | ) |
Registers this subsystem with the CommandScheduler
, allowing its Subsystem#periodic()
method to be called when the scheduler runs.
default void edu.wpi.first.wpilibj2.command.Subsystem.removeDefaultCommand | ( | ) |
Removes the default command for the subsystem. This will not cancel the default command if it is currently running.
default Command edu.wpi.first.wpilibj2.command.Subsystem.run | ( | Runnable | action | ) |
Constructs a command that runs an action every iteration until interrupted. Requires this subsystem.
action | the action to run |
default Command edu.wpi.first.wpilibj2.command.Subsystem.runEnd | ( | Runnable | run, |
Runnable | end ) |
Constructs a command that runs an action every iteration until interrupted, and then runs a second action. Requires this subsystem.
run | the action to run every iteration |
end | the action to run on interrupt |
default Command edu.wpi.first.wpilibj2.command.Subsystem.runOnce | ( | Runnable | action | ) |
Constructs a command that runs an action once and finishes. Requires this subsystem.
action | the action to run |
default void edu.wpi.first.wpilibj2.command.Subsystem.setDefaultCommand | ( | Command | defaultCommand | ) |
Sets the default Command
of the subsystem. The default command will be automatically scheduled when no other commands are scheduled that require the subsystem. Default commands should generally not end on their own, i.e. their Command#isFinished()
method should always return false. Will automatically register this subsystem with the CommandScheduler
.
defaultCommand | the default command to associate with this subsystem |
default void edu.wpi.first.wpilibj2.command.Subsystem.simulationPeriodic | ( | ) |
This method is called periodically by the CommandScheduler
. Useful for updating subsystem-specific state that needs to be maintained for simulations, such as for updating edu.wpi.first.wpilibj.simulation
classes and setting simulated sensor readings.
default Command edu.wpi.first.wpilibj2.command.Subsystem.startEnd | ( | Runnable | start, |
Runnable | end ) |
Constructs a command that runs an action once and another action when the command is interrupted. Requires this subsystem.
start | the action to run on start |
end | the action to run on interrupt |