Class PeriodicSubsystem

java.lang.Object

com.stuypulse.robot.util.PeriodicSubsystem

All Implemented Interfaces:

org.wpilib.command3.Mechanism

Direct Known Subclasses:

Swerve, Vision

public abstract class PeriodicSubsystem
extends Object
implements org.wpilib.command3.Mechanism

A standard subsystem that includes an extra periodic callback which runs after the command scheduler. Allows outputs to be published after all other periodic code has finished.

Field Summary

Fields

Modifier and Type	Field	Description
private final String	name
private static final List<PeriodicSubsystem>	subsystemInstances

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	PeriodicSubsystem()
protected	PeriodicSubsystem(String name)

Method Summary

Modifier and Type	Method	Description
String	getName()	Gets the name of this mechanism.
protected abstract void	periodic()	This method is called periodically before Scheduler.run(), and should be overriden for processing inputs.
protected void	periodicAfterScheduler()	This method is called periodically after Scheduler.run(), and should be overriden for applying outputs.
static void	runAllPeriodicAfterScheduler()	Run the periodicAfterScheduler() methods for all subsystems.
String	toString()

Methods inherited from class Object

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

Methods inherited from interface org.wpilib.command3.Mechanism

controllableDuringDisabled, getDefaultCommand, getRegisteredScheduler, getRunningCommands, idle, idleFor, run, runRepeatedly, setDefaultCommand

Field Details

subsystemInstances

private static final List<PeriodicSubsystem> subsystemInstances

name

private final String name

Constructor Details

PeriodicSubsystem

protected PeriodicSubsystem()

PeriodicSubsystem

protected PeriodicSubsystem(String name)

Method Details

getName

public String getName()

Gets the name of this mechanism.

Specified by:

getName in interface org.wpilib.command3.Mechanism

Returns:

The name of the mechanism.

toString

public String toString()

Overrides:

toString in class Object

periodicAfterScheduler

protected void periodicAfterScheduler()

This method is called periodically after Scheduler.run(), and should be overriden for applying outputs.

periodic

protected abstract void periodic()

This method is called periodically before Scheduler.run(), and should be overriden for processing inputs.

runAllPeriodicAfterScheduler

public static void runAllPeriodicAfterScheduler()

Run the periodicAfterScheduler() methods for all subsystems.