Subsystem Standards

This section provides standards that govern how subsystems are written and maintained.

Subsystems Overview

Subsystems are how FRC teams split up the logic for the different parts of the robots. Each subsystem must:

• Extend SubsystemBase.
• Not include any constants.
• Override the periodic() method.
  • Subsystem logic.
  • Update IO implementation with inputs - this must come before processing the inputs.
  • Process the subsystem inputs.
  • Update the mechanism widget.
  • Update any tunable numbers.
  • Update any Real Outputs
• Contain all logic for that subsystem.

package frc.robot.subsystems.accelerator;

import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import org.littletonrobotics.junction.Logger;

public class Accelerator extends SubsystemBase {

  private final AcceleratorIOInputsAutoLogged inputs = new AcceleratorIOInputsAutoLogged();
  private final AcceleratorIO io;

  public Accelerator(AcceleratorIO io) {
    this.io = io;
  }

  @Override
  public void periodic() {
    io.updateInputs(inputs);
    Logger.processInputs("Accelerator", inputs);
  }

  private void stop() {
    io.setVoltage(0.0);
  }
}