edu.wpi.first.wpilibj.command.Subsystem

All Implemented Interfaces:: Sendable, AutoCloseable

Direct Known Subclasses:: PIDSubsystem

public abstract class Subsystem
extends Object
implements Sendable, AutoCloseable

This class defines a major component of the robot.

A good example of a subsystem is the driveline, or a claw if the robot has one.

All motors should be a part of a subsystem. For instance, all the wheel motors should be a part of some kind of "Driveline" subsystem.

Subsystems are used within the command system as requirements for Command. Only one command which requires a subsystem can run at a time. Also, subsystems can have default commands which are started if there is no command running which requires this subsystem.

See Also:: Command

Constructor Summary

Constructors

Constructor Description

Subsystem()
Creates a subsystem.

Subsystem(String name)
Creates a subsystem with the given name.

Method Summary

Modifier and Type	Method	Description
`void`	`addChild(Sendable child)`	Associate a `Sendable` with this Subsystem.
`void`	`addChild(String name, Sendable child)`	Associate a `Sendable` with this Subsystem.
`void`	`close()`
`Command`	`getCurrentCommand()`	Returns the command which currently claims this subsystem.
`String`	`getCurrentCommandName()`	Returns the current command name, or empty string if no current command.
`Command`	`getDefaultCommand()`	Returns the default command (or null if there is none).
`String`	`getDefaultCommandName()`	Returns the default command name, or empty string is there is none.
`String`	`getName()`	Gets the name of this Subsystem.
`String`	`getSubsystem()`	Gets the subsystem name of this Subsystem.
`protected abstract void`	`initDefaultCommand()`	Initialize the default command for a subsystem By default subsystems have no default command, but if they do, the default command is set with this method.
`void`	`initSendable(SendableBuilder builder)`	Initializes this `Sendable` object.
`void`	`periodic()`	When the run method of the scheduler is called this method will be called.
`void`	`setDefaultCommand(Command command)`	Sets the default command.
`void`	`setName(String name)`	Sets the name of this Subsystem.
`void`	`setSubsystem(String subsystem)`	Sets the subsystem name of this Subsystem.
`String`	`toString()`

Methods inherited from class java.lang.Object

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

Constructor Details
- Subsystem
  
  public Subsystem(String name)
  
  Creates a subsystem with the given name.
  
  Parameters:
  
  name - the name of the subsystem
- Subsystem
  
  public Subsystem()
  
  Creates a subsystem. This will set the name to the name of the class.
Method Details
- close
  
  public void close()
  
  Specified by:
  
  close in interface AutoCloseable
- initDefaultCommand
  
  protected abstract void initDefaultCommand()
  
  Initialize the default command for a subsystem By default subsystems have no default command, but if they do, the default command is set with this method. It is called on all Subsystems by CommandBase in the users program after all the Subsystems are created.
- periodic
  
  public void periodic()
  
  When the run method of the scheduler is called this method will be called.
- setDefaultCommand
  
  public void setDefaultCommand(Command command)
  
  Sets the default command. If this is not called or is called with null, then there will be no default command for the subsystem.
  WARNING: This should NOT be called in a constructor if the subsystem is a singleton.
  
  Parameters:
  
  command - the default command (or null if there should be none)
  
  Throws:
  
  IllegalUseOfCommandException - if the command does not require the subsystem
- getDefaultCommand
  
  public Command getDefaultCommand()
  
  Returns the default command (or null if there is none).
  
  Returns:
  
  the default command
- getDefaultCommandName
  
  public String getDefaultCommandName()
  
  Returns the default command name, or empty string is there is none.
  
  Returns:
  
  the default command name
- getCurrentCommand
  
  public Command getCurrentCommand()
  
  Returns the command which currently claims this subsystem.
  
  Returns:
  
  the command which currently claims this subsystem
- getCurrentCommandName
  
  public String getCurrentCommandName()
  
  Returns the current command name, or empty string if no current command.
  
  Returns:
  
  the current command name
- addChild
  
  public void addChild(String name, Sendable child)
  
  Associate a Sendable with this Subsystem. Also update the child's name.
  
  Parameters:
  
  name - name to give child
  
  child - sendable
- addChild
  
  public void addChild(Sendable child)
  
  Associate a Sendable with this Subsystem.
  
  Parameters:
  
  child - sendable
- getName
  
  public String getName()
  
  Gets the name of this Subsystem.
  
  Returns:
  
  Name
- setName
  
  public void setName(String name)
  
  Sets the name of this Subsystem.
  
  Parameters:
  
  name - name
- getSubsystem
  
  public String getSubsystem()
  
  Gets the subsystem name of this Subsystem.
  
  Returns:
  
  Subsystem name
- setSubsystem
  
  public void setSubsystem(String subsystem)
  
  Sets the subsystem name of this Subsystem.
  
  Parameters:
  
  subsystem - subsystem name
- toString
  
  public String toString()
  
  Overrides:
  
  toString in class Object
- initSendable
  
  public void initSendable(SendableBuilder builder)
  
  Description copied from interface: Sendable
  
  Initializes this Sendable object.
  
  Specified by:
  
  initSendable in interface Sendable
  
  Parameters:
  
  builder - sendable builder

Constructor	Description
`Subsystem()`	Creates a subsystem.
`Subsystem(String name)`	Creates a subsystem with the given name.

Class Subsystem

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Details

Method Details