2019-Robot-Command

Structure

• Robot.java - Creates all of the subsystem objects and updates them

• OI.java - Binds the operator controls to the commands for the subsystems

• RobotMap.java - Contains all constants for the robot code

• /util - Utility classes for controllers, PIDF, and Gyro

• /subsystems - All subsystems on our robot

• /commands - All commands to control the various subsystems

Subsystems

Each Subsystem contains an enum to handle the current state of the subsystem. Each subsystem also contains the function update(), which does a switch statement on the current state and updates the motor outputs accordingly.

Commands

Each Command updates a single Subsystem's state or internal variables. They don't directly set output to the motor; rather, they update the state of the Subsystem and let the Subsystem's update() function handle the output to the motors.

Credits

• SynchronousPIDF.java - FRC Team 254
• CGUtils.java + QueueCommand.java - FRC Team 1923