Package edu.wpi.first.wpilibj2.command
Class SubsystemBase
- java.lang.Object
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- edu.wpi.first.wpilibj2.command.SubsystemBase
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- Direct Known Subclasses:
PIDSubsystem
,ProfiledPIDSubsystem
,TrapezoidProfileSubsystem
public abstract class SubsystemBase extends Object implements Subsystem, Sendable
A base for subsystems that handles registration in the constructor, and provides a more intuitive method for setting the default command.
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Constructor Summary
Constructors Constructor Description SubsystemBase()
Constructor.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
addChild(String name, Sendable child)
Associates aSendable
with this Subsystem.String
getName()
Gets the name of this Subsystem.String
getSubsystem()
Gets the subsystem name of this Subsystem.void
initSendable(SendableBuilder builder)
Initializes thisSendable
object.void
setName(String name)
Sets the name of this Subsystem.void
setSubsystem(String subsystem)
Sets the subsystem name of this Subsystem.-
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem
getCurrentCommand, getDefaultCommand, periodic, register, setDefaultCommand, simulationPeriodic
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Constructor Detail
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SubsystemBase
public SubsystemBase()
Constructor.
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Method Detail
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getSubsystem
public String getSubsystem()
Gets the subsystem name of this Subsystem.- Returns:
- Subsystem name
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setSubsystem
public void setSubsystem(String subsystem)
Sets the subsystem name of this Subsystem.- Parameters:
subsystem
- subsystem name
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addChild
public void addChild(String name, Sendable child)
Associates aSendable
with this Subsystem. Also update the child's name.- Parameters:
name
- name to give childchild
- sendable
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initSendable
public void initSendable(SendableBuilder builder)
Description copied from interface:Sendable
Initializes thisSendable
object.- Specified by:
initSendable
in interfaceSendable
- Parameters:
builder
- sendable builder
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