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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 ### 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). 1. Create a Java class in the subsystems folder (e.g. Intake.java).
* In Robot.java, add a public class variable in the Subsystem section: 2. 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: 3. 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);
}' }```
## Library Features ## Library Features
The Framework Library provides numerous features. We will list some of them here: The Framework Library provides numerous features. We will list some of them here: