Package xbot.common.command

Class BaseSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

xbot.common.command.BaseSubsystem

All Implemented Interfaces:

Sendable, Subsystem, DataFrameRefreshable, IPropertySupport

Direct Known Subclasses:

AutonomousCommandSelector, BaseDriveSubsystem, BasePoseSubsystem, BaseSetpointSubsystem, CompressorSubsystem, SimpleMotorSubsystem, SwerveModuleSubsystem

public abstract class BaseSubsystem
extends SubsystemBase
implements IPropertySupport, DataFrameRefreshable

Field Summary

Fields

Modifier and Type	Field	Description
protected final AKitLogger	aKitLog
protected final List<DataFrameRefreshable>	dataFrameRefreshables
protected final org.apache.logging.log4j.Logger	log

Constructor Summary

Constructors

Constructor	Description
BaseSubsystem()

Method Summary

Modifier and Type	Method	Description
String	getPrefix()
void	periodic()	This method is called on each CommandScheduler loop.
void	refreshDataFrame()	Consumes and processes inputs from the device or subsystem.
protected void	registerDataFrameRefreshable(DataFrameRefreshable refreshable)

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, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Field Details

log

protected final org.apache.logging.log4j.Logger log

aKitLog

protected final AKitLogger aKitLog

dataFrameRefreshables

protected final List<DataFrameRefreshable> dataFrameRefreshables

Constructor Details

BaseSubsystem

public BaseSubsystem()

Method Details

getPrefix

public String getPrefix()

Specified by:

getPrefix in interface IPropertySupport

registerDataFrameRefreshable

protected void registerDataFrameRefreshable(DataFrameRefreshable refreshable)

periodic

public void periodic()

This method is called on each CommandScheduler loop.

Specified by:

periodic in interface Subsystem

refreshDataFrame

public void refreshDataFrame()

Description copied from interface: DataFrameRefreshable

Consumes and processes inputs from the device or subsystem.

Specified by:

refreshDataFrame in interface DataFrameRefreshable