Command Based Robots

Structure Documentation:

Subsystem

+ Default Commands

• Continuously executing until Interrupt

+ Relation To Robot

• Subsystems can be compared to mechanisms that use the same overall resources
• realize that two actions cannot occur at the same time, that require the same subsystem

+ Dependencies

• Dependencies are created by the requires(Subsystem subsystem)
• These prevent two different commands from utilizing the same resources on the robot

Commands

+ Interrupts

• Called to stop a command from running
• Specifically when robot is disabled or a dependency overlaps

+ Connection With Buttons

• Commands can be easily mapped to buttons through the OI class

Input Class

+ Input Devices

• Input devices are mapped through joystick and button objects

+ Button Actions

• Commands can be mapped to buttons or triggers in the OI class

Robot Map

+ Ports

• This class centralizes port numbers and connection numbers for robot-wide use

Command Groups

+ About

• Command Groups are used for command sequencing and parallelizazation
• Basically running things in a specific order or at the same time
• think about automated actions

+ Sequential

• TODO(testing)

+ Parallel

• TODO(testing)