Package com.cdarobotics.cdalib.subsystems

Class DeviceSubsystem

java.lang.Object

com.cdarobotics.cdalib.subsystems.Subsystem

com.cdarobotics.cdalib.subsystems.DeviceSubsystem

public abstract class DeviceSubsystem
extends Subsystem

A Subsystem backed by a single Device. The device is refreshed automatically every loop via update(); subclasses implement the rest of the lifecycle (init/start/stop) and expose their own control methods on top of the device.

Field Summary

Fields

Modifier and Type	Field	Description
protected final Device	device	The wrapped device, refreshed every loop by update().

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	DeviceSubsystem(Device device)	Creates a subsystem backed by the given device.

Method Summary

Modifier and Type	Method	Description
void	update()	Called every loop.

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

init, init_loop, start, stop

Methods inherited from class java.lang.Object

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

Field Details

device

protected final Device device

The wrapped device, refreshed every loop by update().

Constructor Details

DeviceSubsystem

protected DeviceSubsystem(Device device)

Creates a subsystem backed by the given device.

Parameters:

device - the device this subsystem wraps and refreshes each loop.

Method Details

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