frc2::SubsystemBase Class Reference

A base for subsystems that handles registration in the constructor, and provides a more intuitive method for setting the default command. More...

#include <frc2/command/SubsystemBase.h>

Inheritance diagram for frc2::SubsystemBase:

Public Member Functions
void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object.
std::string	GetName () const override
	Gets the name of this Subsystem.
void	SetName (std::string_view name)
	Sets the name of this Subsystem.
std::string	GetSubsystem () const
	Gets the subsystem name of this Subsystem.
void	SetSubsystem (std::string_view name)
	Sets the subsystem name of this Subsystem.
void	AddChild (std::string name, wpi::Sendable *child)
	Associate a Sendable with this Subsystem.
Public Member Functions inherited from frc2::Subsystem
virtual	~Subsystem ()
virtual void	Periodic ()
	This method is called periodically by the CommandScheduler.
virtual void	SimulationPeriodic ()
	This method is called periodically by the CommandScheduler.
template<std::derived_from< Command > T>
void	SetDefaultCommand (T &&defaultCommand)
	Sets the default Command of the subsystem.
void	SetDefaultCommand (CommandPtr &&defaultCommand)
	Sets the default Command of the subsystem.
void	RemoveDefaultCommand ()
	Removes the default command for the subsystem.
Command *	GetDefaultCommand () const
	Gets the default command for this subsystem.
Command *	GetCurrentCommand () const
	Returns the command currently running on this subsystem.
void	Register ()
	Registers this subsystem with the CommandScheduler, allowing its Periodic() method to be called when the scheduler runs.
CommandPtr	RunOnce (std::function< void()> action)
	Constructs a command that runs an action once and finishes.
CommandPtr	Run (std::function< void()> action)
	Constructs a command that runs an action every iteration until interrupted.
CommandPtr	StartEnd (std::function< void()> start, std::function< void()> end)
	Constructs a command that runs an action once and another action when the command is interrupted.
CommandPtr	RunEnd (std::function< void()> run, std::function< void()> end)
	Constructs a command that runs an action every iteration until interrupted, and then runs a second action.
CommandPtr	StartRun (std::function< void()> start, std::function< void()> run)
	Constructs a command that runs an action once, and then runs an action every iteration until interrupted.
CommandPtr	Defer (wpi::unique_function< CommandPtr()> supplier)
	Constructs a DeferredCommand with the provided supplier.
Public Member Functions inherited from wpi::Sendable
virtual constexpr	~Sendable ()=default
Public Member Functions inherited from wpi::SendableHelper< SubsystemBase >
constexpr	SendableHelper (const SendableHelper &rhs)=default
constexpr	SendableHelper (SendableHelper &&rhs)
constexpr SendableHelper &	operator= (const SendableHelper &rhs)=default
constexpr SendableHelper &	operator= (SendableHelper &&rhs)

Protected Member Functions
	SubsystemBase ()
	Constructor.
	SubsystemBase (std::string_view name)
	Constructor.
Protected Member Functions inherited from wpi::SendableHelper< SubsystemBase >
constexpr	SendableHelper ()=default
constexpr	~SendableHelper ()

Detailed Description

A base for subsystems that handles registration in the constructor, and provides a more intuitive method for setting the default command.

This class is provided by the NewCommands VendorDep

Constructor & Destructor Documentation

SubsystemBase() [1/2]

frc2::SubsystemBase::SubsystemBase ( )

protected

Constructor.

Telemetry/log name defaults to the classname.

SubsystemBase() [2/2]

frc2::SubsystemBase::SubsystemBase ( std::string_view name )

explicitprotected

Constructor.

Parameters

name	Name of the subsystem for telemetry and logging.

Member Function Documentation

AddChild()

void frc2::SubsystemBase::AddChild	(	std::string	name,
		wpi::Sendable *	child )

Associate a Sendable with this Subsystem.

Also update the child's name.

Parameters

name	name to give child
child	sendable

GetName()

std::string frc2::SubsystemBase::GetName ( ) const

overridevirtual

Gets the name of this Subsystem.

Returns

Name

Reimplemented from frc2::Subsystem.

GetSubsystem()

std::string frc2::SubsystemBase::GetSubsystem

(

)

const

Gets the subsystem name of this Subsystem.

Returns

Subsystem name

InitSendable()

void frc2::SubsystemBase::InitSendable ( wpi::SendableBuilder & builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder

sendable builder

Implements wpi::Sendable.

SetName()

void frc2::SubsystemBase::SetName

(

std::string_view

name

)

Sets the name of this Subsystem.

Parameters

name

name

SetSubsystem()

void frc2::SubsystemBase::SetSubsystem

(

std::string_view

name

)

Sets the subsystem name of this Subsystem.

Parameters

name	subsystem name

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The documentation for this class was generated from the following file:

• frc2/command/SubsystemBase.h