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@ -31,13 +31,13 @@ The next step is to determine the odometry scales (X and Y). This is applicable
### 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:
* Create a Java class in the subsystems folder (e.g. Intake.java).
* In Robot.java, add a public class variable in the Subsystem section:
'public Intake intake;'
* In the constructor of Robot.java, under the Subsystem section, add code to create and initialize the subsystem:
'if (RobotParams.Preferences.useIntake) {
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);
}'
}```
## Library Features
The Framework Library provides numerous features. We will list some of them here: