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Titan Robotics Club
2024-06-01 00:07:19 -07:00
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@ -31,10 +31,10 @@ The next step is to determine the odometry scales (X and Y). This is applicable
### Creating Subsystems ### Creating Subsystems
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: 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:
# Create a Java class in the subsystems folder (e.g. Intake.java). * Create a Java class in the subsystems folder (e.g. Intake.java).
# In Robot.java, add a public class variable in the Subsystem section: * In Robot.java, add a public class variable in the Subsystem section:
'public Intake intake;' 'public Intake intake;'
# In the constructor of Robot.java, under the Subsystem section, add code to create and initialize the subsystem: * In the constructor of Robot.java, under the Subsystem section, add code to create and initialize the subsystem:
'if (RobotParams.Preferences.useIntake) { 'if (RobotParams.Preferences.useIntake) {
intake = new Intake(RobotParams.HWNAME_INTAKE, this); intake = new Intake(RobotParams.HWNAME_INTAKE, this);
}' }'