This code is for internal development of the 2020 Robot Code.
The code is based on the 2020 new Command Subsystem format.
Our subsystems are responsible for keeping track of their current motion state. You can see a complete list of the subsystems in ./src/main/java/frc/robot/subsystems. They also have commands in ./src/main/java/frc/robot/commands. If the subsystem is part of the supersystem, their commands will be in ./src/main/java/frc/robot/commands/supersystem.
These subsystems are very closely related to each other. It consists of the:
These subsystems should report any state elements that affect other subsystems to frc.robot.GlobalManager.SupersystemManager, which is reponsible for state orchestration that affects other subsystems. This is a replacement of poorly-organized global state management in the 2019 code (which for the most part was tracked in the Elevator subsystem).
All other states (ones that do not need to be reported globally) should be reported to the subsytem class.
When possible, use the FRCLib motor controllers. They consist of FRCTalonSRX, FRCVictorSPX, and FRCTalonFX. They can be instantiated using a Builder like follows:
indexerStageOne = new FRCTalonSRX.FRCTalonSRXBuilder()
.withCanID(Constants.IndexerConstants.IndexerMotors.IndexerStageOne.CAN_ID)
.withInverted(Constants.IndexerConstants.IndexerMotors.IndexerStageOne.INVERT)
.withFeedbackPort(Constants.IndexerConstants.IndexerMotors.IndexerStageOne.FEEDBACK_PORT)
.withSensorPhase(Constants.IndexerConstants.IndexerMotors.IndexerStageOne.SENSOR_PHASE)
.withTimeout(Constants.IndexerConstants.IndexerMotors.IndexerStageOne.TIMEOUT)
.withCurrentLimitEnabled(Constants.IndexerConstants.IndexerMotors.IndexerStageOne.ENABLE_CURRENT_LIMIT)
.withCurrentLimit(Constants.IndexerConstants.IndexerMotors.IndexerStageOne.CURRENT_LIMIT)
.withOpenLoopRampRate(Constants.IndexerConstants.IndexerMotors.IndexerStageOne.OPEN_LOOP_RAMP)
.withNominalOutputForward(Constants.IndexerConstants.IndexerMotors.IndexerStageOne.NOMINAL_OUTPUT_FORWARD)
.withNominalOutputReverse(Constants.IndexerConstants.IndexerMotors.IndexerStageOne.NOMINAL_OUTPUT_REVERSE)
.withPeakOutputForward(Constants.IndexerConstants.IndexerMotors.IndexerStageOne.PEAK_OUTPUT_FORWARD)
.withPeakOutputReverse(Constants.IndexerConstants.IndexerMotors.IndexerStageOne.PEAK_OUTPUT_REVERSE)
.build();