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@ -33,11 +33,15 @@ The next step is to determine the odometry scales (X and Y). This is applicable
Once the drive base is fully functional, the next step is to create subsystems for the robot such as Elevator, Arm, Intake, Grabber etc. It is a good practice to create a subsystem as a separate Java class that encapsulates all hardware related to that subsystem. To create a subsystem, follow the steps below:
1. Create a Java class in the subsystems folder (e.g. Intake.java).
2. In Robot.java, add a public class variable in the Subsystem section:
```public Intake intake;```
3. In the constructor of Robot.java, under the Subsystem section, add code to create and initialize the subsystem:
```if (RobotParams.Preferences.useIntake) {
intake = new Intake(RobotParams.HWNAME_INTAKE, this);
}```
```
public Intake intake;
```
4. In the constructor of Robot.java, under the Subsystem section, add code to create and initialize the subsystem:
```
if (RobotParams.Preferences.useIntake) {
intake = new Intake(RobotParams.HWNAME_INTAKE, this);
}
```
## Library Features
The Framework Library provides numerous features. We will list some of them here: