Subsystems

Subsystems are a unit of organization for your code. A subsystem represents a hardware component on your robot. Although they are completely optional, it is highly recommended that you use them. They provide a great alternative to the "robot class" antipattern.

Creating Subsystems

To create a subsystem, just implement the Subsystem interface! You can optionally implement the initialize and/or periodic functions as well.

class MySubsystem : Subsystem {
    // put hardware, commands, etc here
    
    override fun initialize() {
        // initialization logic (runs on init)
    }
    
    override fun periodic() {
        // periodic logic (runs every loop)
    }
}

Registering Subsystems

To register a subsystem in your OpMode, pass it to a SubsystemComponent as one of your components. A SubsystemComponent can take one or many subsystems. Registering a subsystem ensures that its initialize and periodic functions are called at the appropriate times.

Subsystems as Requirements

It is generally best to have a subsystem as the requirement for the commands in that subsystem. For example:

val open = SetPositon(claw, 1.0).setRequirements(this)

However, if you have multiple degrees of freedom in one subsystem, commands for each degree of freedom should get its own requirement. A simple way to do this is as follows.

private val claw = Any()
private val pivot = Any()

val openClaw = SetPosition(clawServo, 1.0).setRequirements(claw)
val closeClaw = SetPosition(clawServo, 0.0).setRequirements(claw)

val pivotLeft = SetPosition(pivotServo, 0.0).setRequirements(pivot)
val pivotRight = SetPostion(pivotServo, 1.0).setRequirements(left)