Package com.cdarobotics.cdalib.subsystems

Class Subsystem

java.lang.Object

com.cdarobotics.cdalib.subsystems.Subsystem

Direct Known Subclasses:

CompoundSubsystem, DeviceSubsystem, NullSubsystem, ThreadedIMU

public abstract class Subsystem
extends Object

A robot mechanism with a fixed lifecycle: init() once on OpMode init, start() once when the OpMode starts, update() every loop, and stop() once when it ends.

Constructor Summary

Constructors

Constructor	Description
Subsystem()

Method Summary

Modifier and Type	Method	Description
abstract void	init()	Called once when the OpMode initializes.
abstract void	init_loop()	Called repeatedly during the OpMode init phase, after init() and before start(), while the driver is still on the init screen.
abstract void	start()	Called once when the OpMode starts (play pressed).
abstract void	stop()	Called once when the OpMode ends.
abstract void	update()	Called every loop.

Methods inherited from class java.lang.Object

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

Constructor Details

Subsystem

public Subsystem()

Method Details

init

public abstract void init()

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

init_loop

public abstract void init_loop()

Called repeatedly during the OpMode init phase, after init() and before start(), while the driver is still on the init screen. Use it for work that must keep running until play is pressed, such as reporting sensor readings or waiting on hardware.

start

public abstract void start()

Called once when the OpMode starts (play pressed).

update

public abstract void update()

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

stop

public abstract void stop()

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