Command Based Robots

Structure Documentation:

Subsystem

• Default Commands
  • Continuously executing until Interrupt

setDefaultCommand(new ExampleGroup());

• 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
  • These prevent two different commands from utilizing the same resources on the robot

requires(Robot.exampleSubsystem);

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

Joystick js0 = new Joystick(0);

Button btn00 = new JoystickButton(js0, 0);

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

btn00.whileHeld(new Command());

Robot Map

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

public static int defaultMotor = 2;

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
  • Commands will add in order of methods to add them

• Sequential
  • TODO(testing)

addSequential(new Command1());

• Parallel
  • TODO(testing)

addParallel(new Command1());