Subsystems

Table of contents

1. Subsystems
   1. Introduction to Subsystems
   2. Creating Subsystems
   3. Periodic

Introduction to Subsystems

A subsystem is an abstraction for a collection of robot hardware that operates together as a unit and is designed to handle a specific task.

Creating Subsystems

import edu.wpi.first.wpilibj2.command.SubsystemBase;

public class SubsystemExample extends SubsystemBase {
    /** Creates a new SubsystemExample. */
    public SubsystemExample() {}

    @Override
    public void periodic() {
        // This method will be called once per scheduler run
    }
}

To create a basic subsystem, a new class must be created that extends SubsystemBase. This requires importing SubsystemBase from the WPILib library.

In the constructor of a subsystem, initialize hardware components and set their default states or values.

Periodic

Subsystems have a periodic() method that is called once per scheduler iteration, which is typically every 20 milliseconds. It overrides the periodic() method from SubsystemBase.

@Override
public void periodic() {
    // This method will be called once per scheduler run
}