wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/command/Subsystem.html
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<div class="subTitle">edu.wpi.first.wpilibj.command</div>
<h2 title="Class Subsystem" class="title">Class Subsystem</h2>
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<ul class="inheritance">
<li>java.lang.Object</li>
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<li>edu.wpi.first.wpilibj.command.Subsystem</li>
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<dl>
<dt>All Implemented Interfaces:</dt>
<dd><a href="../../../../../edu/wpi/first/wpilibj/NamedSendable.html" title="interface in edu.wpi.first.wpilibj">NamedSendable</a>, <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></dd>
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<dl>
<dt>Direct Known Subclasses:</dt>
<dd><a href="../../../../../edu/wpi/first/wpilibj/command/PIDSubsystem.html" title="class in edu.wpi.first.wpilibj.command">PIDSubsystem</a></dd>
</dl>
<hr>
<br>
<pre>public abstract class <span class="typeNameLabel">Subsystem</span>
extends java.lang.Object
implements <a href="../../../../../edu/wpi/first/wpilibj/NamedSendable.html" title="interface in edu.wpi.first.wpilibj">NamedSendable</a></pre>
<div class="block">This class defines a major component of the robot.
<p> A good example of a subsystem is the driveline, or a claw if the robot has one. </p>
<p> All motors should be a part of a subsystem. For instance, all the wheel motors should be a
part of some kind of "Driveline" subsystem. </p>
<p> Subsystems are used within the command system as requirements for <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command"><code>Command</code></a>. Only one
command which requires a subsystem can run at a time. Also, subsystems can have default commands
which are started if there is no command running which requires this subsystem. </p></div>
<dl>
<dt><span class="seeLabel">See Also:</span></dt>
<dd><a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command"><code>Command</code></a></dd>
</dl>
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<h3>Constructor Summary</h3>
<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Constructor Summary table, listing constructors, and an explanation">
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
<tr>
<th class="colOne" scope="col">Constructor and Description</th>
</tr>
<tr class="altColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Subsystem.html#Subsystem--">Subsystem</a></span>()</code>
<div class="block">Creates a subsystem.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Subsystem.html#Subsystem-java.lang.String-">Subsystem</a></span>(java.lang.String name)</code>
<div class="block">Creates a subsystem with the given name.</div>
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<h3>Method Summary</h3>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t3" class="tableTab"><span><a href="javascript:show(4);">Abstract Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Method and Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><code><a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a></code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Subsystem.html#getCurrentCommand--">getCurrentCommand</a></span>()</code>
<div class="block">Returns the command which currently claims this subsystem.</div>
</td>
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<tr id="i1" class="rowColor">
<td class="colFirst"><code>protected <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a></code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Subsystem.html#getDefaultCommand--">getDefaultCommand</a></span>()</code>
<div class="block">Returns the default command (or null if there is none).</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>java.lang.String</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Subsystem.html#getName--">getName</a></span>()</code>
<div class="block">Returns the name of this subsystem, which is by default the class name.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>java.lang.String</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Subsystem.html#getSmartDashboardType--">getSmartDashboardType</a></span>()</code>
<div class="block">The string representation of the named data type that will be used by the smart dashboard for
this <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a>.</div>
</td>
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<tr id="i4" class="altColor">
<td class="colFirst"><code>protected abstract void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Subsystem.html#initDefaultCommand--">initDefaultCommand</a></span>()</code>
<div class="block">Initialize the default command for a subsystem By default subsystems have no default command,
but if they do, the default command is set with this method.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Subsystem.html#initTable-edu.wpi.first.networktables.NetworkTable-">initTable</a></span>(<a href="../../../../../edu/wpi/first/networktables/NetworkTable.html" title="class in edu.wpi.first.networktables">NetworkTable</a> table)</code>
<div class="block">Initializes a table for this <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a> object.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Subsystem.html#periodic--">periodic</a></span>()</code>
<div class="block">When the run method of the scheduler is called this method will be called.</div>
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</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>protected void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Subsystem.html#setDefaultCommand-edu.wpi.first.wpilibj.command.Command-">setDefaultCommand</a></span>(<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> command)</code>
<div class="block">Sets the default command.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>java.lang.String</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Subsystem.html#toString--">toString</a></span>()</code> </td>
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<h3>Methods inherited from class java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait</code></li>
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<h4>Subsystem</h4>
<pre>public Subsystem(java.lang.String name)</pre>
<div class="block">Creates a subsystem with the given name.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>name</code> - the name of the subsystem</dd>
</dl>
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<h4>Subsystem</h4>
<pre>public Subsystem()</pre>
<div class="block">Creates a subsystem. This will set the name to the name of the class.</div>
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<h4>initDefaultCommand</h4>
<pre>protected abstract void initDefaultCommand()</pre>
<div class="block">Initialize the default command for a subsystem By default subsystems have no default command,
but if they do, the default command is set with this method. It is called on all Subsystems by
CommandBase in the users program after all the Subsystems are created.</div>
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<h4>periodic</h4>
<pre>public void periodic()</pre>
<div class="block">When the run method of the scheduler is called this method will be called.</div>
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<h4>setDefaultCommand</h4>
<pre>protected void setDefaultCommand(<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> command)</pre>
<div class="block">Sets the default command. If this is not called or is called with null, then there will be no
default command for the subsystem.
<p> <b>WARNING:</b> This should <b>NOT</b> be called in a constructor if the subsystem is a
singleton. </p></div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>command</code> - the default command (or null if there should be none)</dd>
<dt><span class="throwsLabel">Throws:</span></dt>
<dd><code><a href="../../../../../edu/wpi/first/wpilibj/command/IllegalUseOfCommandException.html" title="class in edu.wpi.first.wpilibj.command">IllegalUseOfCommandException</a></code> - if the command does not require the subsystem</dd>
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<h4>getDefaultCommand</h4>
<pre>protected <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> getDefaultCommand()</pre>
<div class="block">Returns the default command (or null if there is none).</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the default command</dd>
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<h4>getCurrentCommand</h4>
<pre>public <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> getCurrentCommand()</pre>
<div class="block">Returns the command which currently claims this subsystem.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the command which currently claims this subsystem</dd>
</dl>
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<a name="toString--">
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<h4>toString</h4>
<pre>public java.lang.String toString()</pre>
<dl>
<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
<dd><code>toString</code> in class <code>java.lang.Object</code></dd>
</dl>
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<a name="getName--">
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<h4>getName</h4>
<pre>public java.lang.String getName()</pre>
<div class="block">Returns the name of this subsystem, which is by default the class name.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../../edu/wpi/first/wpilibj/NamedSendable.html#getName--">getName</a></code> in interface <code><a href="../../../../../edu/wpi/first/wpilibj/NamedSendable.html" title="interface in edu.wpi.first.wpilibj">NamedSendable</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the name of this subsystem</dd>
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<h4>getSmartDashboardType</h4>
<pre>public java.lang.String getSmartDashboardType()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html#getSmartDashboardType--">Sendable</a></code></span></div>
<div class="block">The string representation of the named data type that will be used by the smart dashboard for
this <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a>.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html#getSmartDashboardType--">getSmartDashboardType</a></code> in interface <code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The type of this <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a>.</dd>
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<h4>initTable</h4>
<pre>public void initTable(<a href="../../../../../edu/wpi/first/networktables/NetworkTable.html" title="class in edu.wpi.first.networktables">NetworkTable</a> table)</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html#initTable-edu.wpi.first.networktables.NetworkTable-">Sendable</a></code></span></div>
<div class="block">Initializes a table for this <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a> object.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html#initTable-edu.wpi.first.networktables.NetworkTable-">initTable</a></code> in interface <code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>table</code> - The table to put the values in.</dd>
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