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https://github.com/wpilibsuite/allwpilib
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89 lines
3.5 KiB
C++
89 lines
3.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <frc2/command/CommandScheduler.h>
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#include <utility>
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namespace frc2 {
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class Command;
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/**
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* A robot subsystem. Subsystems are the basic unit of robot organization in
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* the Command-based framework; they encapsulate low-level hardware objects
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* (motor controllers, sensors, etc) and provide methods through which they can
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* be used by Commands. Subsystems are used by the CommandScheduler's resource
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* management system to ensure multiple robot actions are not "fighting" over
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* the same hardware; Commands that use a subsystem should include that
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* subsystem in their GetRequirements() method, and resources used within a
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* subsystem should generally remain encapsulated and not be shared by other
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* parts of the robot.
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*
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* <p>Subsystems must be registered with the scheduler with the
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* CommandScheduler.RegisterSubsystem() method in order for the
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* Periodic() method to be called. It is recommended that this method be called
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* from the constructor of users' Subsystem implementations. The
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* SubsystemBase class offers a simple base for user implementations
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* that handles this.
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*
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* @see Command
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* @see CommandScheduler
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* @see SubsystemBase
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*/
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class Subsystem {
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public:
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~Subsystem();
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/**
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* This method is called periodically by the CommandScheduler. Useful for
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* updating subsystem-specific state that you don't want to offload to a
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* Command. Teams should try to be consistent within their own codebases
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* about which responsibilities will be handled by Commands, and which will be
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* handled here.
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*/
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virtual void Periodic();
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/**
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* Sets the default Command of the subsystem. The default command will be
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* automatically scheduled when no other commands are scheduled that require
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* the subsystem. Default commands should generally not end on their own, i.e.
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* their IsFinished() method should always return false. Will automatically
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* register this subsystem with the CommandScheduler.
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*
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* @param defaultCommand the default command to associate with this subsystem
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*/
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template <class T, typename = std::enable_if_t<std::is_base_of_v<
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Command, std::remove_reference_t<T>>>>
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void SetDefaultCommand(T&& defaultCommand) {
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CommandScheduler::GetInstance().SetDefaultCommand(
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this, std::forward<T>(defaultCommand));
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}
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/**
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* Gets the default command for this subsystem. Returns null if no default
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* command is currently associated with the subsystem.
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*
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* @return the default command associated with this subsystem
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*/
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Command* GetDefaultCommand() const;
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/**
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* Returns the command currently running on this subsystem. Returns null if
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* no command is currently scheduled that requires this subsystem.
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*
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* @return the scheduled command currently requiring this subsystem
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*/
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Command* GetCurrentCommand() const;
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/**
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* Registers this subsystem with the CommandScheduler, allowing its
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* Periodic() method to be called when the scheduler runs.
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*/
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void Register();
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};
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} // namespace frc2
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