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)