Package tagalong.subsystems

Class TagalongSubsystemBase

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

tagalong.subsystems.TagalongSubsystemBase

All Implemented Interfaces:

Sendable, Subsystem

public class TagalongSubsystemBase
extends SubsystemBase

Base class for all Tagalong Subsystems containing multiple microsystems

Field Summary

Fields

Modifier and Type	Field	Description
boolean	_configuredDisable	True if the subsystem is disabled in the config files
protected boolean	_isSubsystemDisabled	Disablement state, for dynamic disablement configured on the fly by robot code

Constructor Summary

Constructors

Constructor	Description
TagalongSubsystemBase(Object conf)	Constructs a generic subsystem with universal features

Method Summary

Modifier and Type	Method	Description
boolean	checkInitStatus()
void	configMotor()	Called once on robot to configure motors.
protected void	configShuffleboard()	Called once on robot start to configure all shuffleboard entries.
boolean	isSubsystemDisabled()
void	onDisable()	Triggers whenever the robot is disabled.
void	onEnable()	Triggers whenever the robot is autonomous or teleop enabled.
void	setDisabled(boolean disable)
void	simulationInit()	Called once on robot boot to initialize simulations.
void	simulationPeriodic()	Called periodically on robot to update simulations.
protected void	updateShuffleboard()	Updates shuffleboard

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, periodic, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, startEnd, startRun

Field Details

_configuredDisable

public boolean _configuredDisable

True if the subsystem is disabled in the config files

_isSubsystemDisabled

protected boolean _isSubsystemDisabled

Disablement state, for dynamic disablement configured on the fly by robot code

Constructor Details

TagalongSubsystemBase

public TagalongSubsystemBase(Object conf)

Constructs a generic subsystem with universal features

Parameters:

conf - Subsystem configuration containing all microsystem confs and any other necessary configs

Method Details

setDisabled

public void setDisabled(boolean disable)

Parameters:

disable - Sets the subsystemDisabled and configuredDisable variables to disable.

isSubsystemDisabled

public boolean isSubsystemDisabled()

Returns:

True if the subsystem is disabled

updateShuffleboard

protected void updateShuffleboard()

Updates shuffleboard

configShuffleboard

protected void configShuffleboard()

Called once on robot start to configure all shuffleboard entries.

onEnable

public void onEnable()

Triggers whenever the robot is autonomous or teleop enabled. Calls all the onEnable functions of the contained Tagalong Microsystems and takes any subsystem specific actions.

onDisable

public void onDisable()

Triggers whenever the robot is disabled. Calls all the onDisable functions of the contained Tagalong Microsystems and takes any subsystem specific actions.

simulationInit

public void simulationInit()

Called once on robot boot to initialize simulations. Calls all the simulationInit functions of the contained Tagalong Microsystems and takes any subsystem specific actions.

simulationPeriodic

public void simulationPeriodic()

Called periodically on robot to update simulations. Calls all the simulationInit functions of the contained Tagalong Microsystems and takes any subsystem specific actions.

configMotor

public void configMotor()

Called once on robot to configure motors. Calls all the configMotor() functions of the contained Tagalong Microsystems and takes any subsystem specific actions.

checkInitStatus

public boolean checkInitStatus()

Returns:

Subsystem status -- True if subsystem is not disabled