Package edu.wpi.first.wpilibj2.command

Class SubsystemBase

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

All Implemented Interfaces:

Sendable, Subsystem

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.

This class is provided by the NewCommands VendorDep

Constructor Summary

Constructors

Constructor	Description
SubsystemBase()	Constructor.
SubsystemBase(String name)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	addChild(String name, Sendable child)	Associates a Sendable 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 this Sendable 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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, periodic, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

SubsystemBase

public SubsystemBase()

Constructor. Telemetry/log name defaults to the classname.

SubsystemBase

public SubsystemBase(String name)

Constructor.

Parameters:

name - Name of the subsystem for telemetry and logging.

Method Details

getName

public String getName()

Gets the name of this Subsystem.

Specified by:

getName in interface Subsystem

Returns:

Name

setName

public void setName(String name)

Sets the name of this Subsystem.

Parameters:

name - name

getSubsystem

public String getSubsystem()

Gets the subsystem name of this Subsystem.

Returns:

Subsystem name

setSubsystem

public void setSubsystem(String subsystem)

Sets the subsystem name of this Subsystem.

Parameters:

subsystem - subsystem name

addChild

public void addChild(String name,
 Sendable child)

Associates a Sendable with this Subsystem. Also update the child's name.

Parameters:

name - name to give child

child - sendable

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Parameters:

builder - sendable builder