Package com.cdarobotics.cdalib.subsystems

Class CompoundSubsystem

java.lang.Object

com.cdarobotics.cdalib.subsystems.Subsystem

com.cdarobotics.cdalib.subsystems.CompoundSubsystem

public abstract class CompoundSubsystem
extends Subsystem

A Subsystem that groups several child subsystems and fans each lifecycle call (init/start/update/stop) out to all of them. Register children with registerSubsystem(Subsystem).

Constructor Summary

Constructors

Constructor	Description
CompoundSubsystem()	Creates an empty compound subsystem; add children with registerSubsystem(Subsystem).

Method Summary

Modifier and Type	Method	Description
void	init()	Called once when the OpMode initializes.
void	registerSubsystem(Subsystem subsystem)	Adds a child subsystem that will receive all lifecycle calls.
void	start()	Called once when the OpMode starts (play pressed).
void	stop()	Called once when the OpMode ends.
void	update()	Called every loop.

Methods inherited from class com.cdarobotics.cdalib.subsystems.Subsystem

init_loop

Methods inherited from class java.lang.Object

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

Constructor Details

CompoundSubsystem

public CompoundSubsystem()

Creates an empty compound subsystem; add children with registerSubsystem(Subsystem).

Method Details

registerSubsystem

public void registerSubsystem(Subsystem subsystem)

Adds a child subsystem that will receive all lifecycle calls.

init

public void init()

Description copied from class: Subsystem

Called once when the OpMode initializes. Grab hardware and set starting state here.

Specified by:

init in class Subsystem

start

public void start()

Description copied from class: Subsystem

Called once when the OpMode starts (play pressed).

Specified by:

start in class Subsystem

update

public void update()

Description copied from class: Subsystem

Called every loop. Read inputs and drive the mechanism here.

Specified by:

update in class Subsystem

stop

public void stop()

Description copied from class: Subsystem

Called once when the OpMode ends. Safe or release the mechanism here.

Specified by:

stop in class Subsystem