Subsystem¶

class commands1.Subsystem(name: str)¶

Bases: wpiutil._wpiutil.Sendable

This class defines a major component of the robot.

A good example of a subsystem is the drivetrain, or a claw if the robot has one.

All motors should be a part of a subsystem. For instance, all the wheel motors should be a part of some kind of “Drivetrain” subsystem.

Subsystems are used within the command system as requirements for Command. Only one command which requires a subsystem can run at a time. Also, subsystems can have default commands which are started if there is no command running which requires this subsystem.

This class is provided by the OldCommands VendorDep

Creates a subsystem with the given name.

Parameters: name – the name of the subsystem

addChild(*args, **kwargs)¶

Overloaded function.

addChild(self: commands1._impl._commands_v1.command.Subsystem, name: str, child: wpiutil._wpiutil.Sendable) -> None

Associate a Sendable with this Subsystem. Also update the child’s name.

Parameters

name – name to give child
child – sendable

addChild(self: commands1._impl._commands_v1.command.Subsystem, child: wpiutil._wpiutil.Sendable) -> None

Associate a Sendable with this Subsystem.

Parameters: child – sendable

getCurrentCommand() → commands1._impl._commands_v1.command.Command¶

Returns the command which currently claims this subsystem.

Returns: the command which currently claims this subsystem

getCurrentCommandName() → str¶

Returns the current command name, or empty string if no current command.

Returns: the current command name

getDefaultCommand() → commands1._impl._commands_v1.command.Command¶

Returns the default command (or null if there is none).

Returns: the default command

getDefaultCommandName() → str¶

Returns the default command name, or empty string is there is none.

Returns: the default command name

getName() → str¶

Gets the name of this Subsystem.

Returns: Name

getSubsystem() → str¶

Gets the subsystem name of this Subsystem.

Returns: Subsystem name

initDefaultCommand() → None¶

Initialize the default command for this subsystem.

This is meant to be the place to call SetDefaultCommand in a subsystem and will be called on all the subsystems by the CommandBase method before the program starts running by using the list of all registered Subsystems inside the Scheduler.

This should be overridden by a Subsystem that has a default Command

initSendable(builder: wpiutil._wpiutil.SendableBuilder) → None¶

periodic() → None¶: When the run method of the scheduler is called this method will be called.

setCurrentCommand(command: commands1._impl._commands_v1.command.Command) → None¶

Sets the current command.

Parameters: command – the new current command

setDefaultCommand(command: commands1._impl._commands_v1.command.Command) → None¶

Sets the default command. If this is not called or is called with null, then there will be no default command for the subsystem.

WARNING: This should NOT be called in a constructor if the subsystem is a singleton.

Parameters: command – the default command (or null if there should be none)

setName(name: str) → None¶

Sets the name of this Subsystem.

Parameters: name – name

setSubsystem(subsystem: str) → None¶

Sets the subsystem name of this Subsystem.

Parameters: subsystem – subsystem name