WPILibC++  2020.3.2-60-g3011ebe
frc::Subsystem Class Reference
Inheritance diagram for frc::Subsystem:
frc::ErrorBase frc::Sendable frc::SendableHelper< Subsystem > frc::PIDSubsystem

Public Member Functions

 Subsystem (const wpi::Twine &name)
 Creates a subsystem with the given name. More...
 
 Subsystem (Subsystem &&)=default
 
Subsystemoperator= (Subsystem &&)=default
 
void SetDefaultCommand (Command *command)
 Sets the default command. More...
 
CommandGetDefaultCommand ()
 Returns the default command (or null if there is none). More...
 
wpi::StringRef GetDefaultCommandName ()
 Returns the default command name, or empty string is there is none. More...
 
void SetCurrentCommand (Command *command)
 Sets the current command. More...
 
CommandGetCurrentCommand () const
 Returns the command which currently claims this subsystem. More...
 
wpi::StringRef GetCurrentCommandName () const
 Returns the current command name, or empty string if no current command. More...
 
virtual void Periodic ()
 When the run method of the scheduler is called this method will be called.
 
virtual void InitDefaultCommand ()
 Initialize the default command for this subsystem. More...
 
std::string GetName () const
 Gets the name of this Subsystem. More...
 
void SetName (const wpi::Twine &name)
 Sets the name of this Subsystem. More...
 
std::string GetSubsystem () const
 Gets the subsystem name of this Subsystem. More...
 
void SetSubsystem (const wpi::Twine &subsystem)
 Sets the subsystem name of this Subsystem. More...
 
void AddChild (const wpi::Twine &name, std::shared_ptr< Sendable > child)
 Associate a Sendable with this Subsystem. More...
 
void AddChild (const wpi::Twine &name, Sendable *child)
 Associate a Sendable with this Subsystem. More...
 
void AddChild (const wpi::Twine &name, Sendable &child)
 Associate a Sendable with this Subsystem. More...
 
void AddChild (std::shared_ptr< Sendable > child)
 Associate a Sendable with this Subsystem. More...
 
void AddChild (Sendable *child)
 Associate a Sendable with this Subsystem. More...
 
void AddChild (Sendable &child)
 Associate a Sendable with this Subsystem. More...
 
void InitSendable (SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (const ErrorBase &)=default
 
ErrorBaseoperator= (const ErrorBase &)=default
 
 ErrorBase (ErrorBase &&)=default
 
ErrorBaseoperator= (ErrorBase &&)=default
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 Retrieve the current error. More...
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual void SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 
void ClearGlobalErrors ()
 Clear global errors.
 
- Public Member Functions inherited from frc::SendableHelper< Subsystem >
 SendableHelper (const SendableHelper &rhs)=default
 
 SendableHelper (SendableHelper &&rhs)
 
SendableHelperoperator= (const SendableHelper &rhs)=default
 
SendableHelperoperator= (SendableHelper &&rhs)
 
std::string GetName () const
 Gets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &name)
 Sets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &subsystem, const wpi::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 
std::string GetSubsystem () const
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (const wpi::Twine &subsystem)
 Sets the subsystem name of this Sendable object. More...
 

Friends

class Scheduler
 

Additional Inherited Members

- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static Error GetGlobalError ()
 Retrieve the last global error.
 
static std::vector< ErrorGetGlobalErrors ()
 Retrieve all global errors.
 
- Protected Member Functions inherited from frc::SendableHelper< Subsystem >
void SetName (const wpi::Twine &moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (const wpi::Twine &moduleType, int moduleNumber, int channel)
 Sets the name of the sensor with a module and channel number. More...
 
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 

Constructor & Destructor Documentation

◆ Subsystem()

frc::Subsystem::Subsystem ( const wpi::Twine name)
explicit

Creates a subsystem with the given name.

Parameters
namethe name of the subsystem

Member Function Documentation

◆ AddChild() [1/6]

void frc::Subsystem::AddChild ( const wpi::Twine name,
Sendable child 
)

Associate a Sendable with this Subsystem.

Also update the child's name.

Parameters
namename to give child
childsendable

◆ AddChild() [2/6]

void frc::Subsystem::AddChild ( const wpi::Twine name,
Sendable child 
)

Associate a Sendable with this Subsystem.

Also update the child's name.

Parameters
namename to give child
childsendable

◆ AddChild() [3/6]

void frc::Subsystem::AddChild ( const wpi::Twine name,
std::shared_ptr< Sendable child 
)

Associate a Sendable with this Subsystem.

Also update the child's name.

Parameters
namename to give child
childsendable

◆ AddChild() [4/6]

void frc::Subsystem::AddChild ( Sendable child)

Associate a Sendable with this Subsystem.

Parameters
childsendable

◆ AddChild() [5/6]

void frc::Subsystem::AddChild ( Sendable child)

Associate a Sendable with this Subsystem.

Parameters
childsendable

◆ AddChild() [6/6]

void frc::Subsystem::AddChild ( std::shared_ptr< Sendable child)

Associate a Sendable with this Subsystem.

Parameters
childsendable

◆ GetCurrentCommand()

Command* frc::Subsystem::GetCurrentCommand ( ) const

Returns the command which currently claims this subsystem.

Returns
the command which currently claims this subsystem

◆ GetCurrentCommandName()

wpi::StringRef frc::Subsystem::GetCurrentCommandName ( ) const

Returns the current command name, or empty string if no current command.

Returns
the current command name

◆ GetDefaultCommand()

Command* frc::Subsystem::GetDefaultCommand ( )

Returns the default command (or null if there is none).

Returns
the default command

◆ GetDefaultCommandName()

wpi::StringRef frc::Subsystem::GetDefaultCommandName ( )

Returns the default command name, or empty string is there is none.

Returns
the default command name

◆ GetName()

std::string frc::Subsystem::GetName ( ) const

Gets the name of this Subsystem.

Returns
Name

◆ GetSubsystem()

std::string frc::Subsystem::GetSubsystem ( ) const

Gets the subsystem name of this Subsystem.

Returns
Subsystem name

◆ InitDefaultCommand()

virtual void frc::Subsystem::InitDefaultCommand ( )
virtual

Initialize the default command for this subsystem.

This is meant to be the place to call SetDefaultCommand in a subsystem and will be called on all the subsystems by the CommandBase method before the program starts running by using the list of all registered Subsystems inside the Scheduler.

This should be overridden by a Subsystem that has a default Command

◆ InitSendable()

void frc::Subsystem::InitSendable ( SendableBuilder builder)
overridevirtual

Initializes this Sendable object.

Parameters
buildersendable builder

Implements frc::Sendable.

◆ SetCurrentCommand()

void frc::Subsystem::SetCurrentCommand ( Command command)

Sets the current command.

Parameters
commandthe new current command

◆ SetDefaultCommand()

void frc::Subsystem::SetDefaultCommand ( Command command)

Sets the default command.

If this is not called or is called with null, then there will be no default command for the subsystem.

WARNING: This should NOT be called in a constructor if the subsystem is a singleton.

Parameters
commandthe default command (or null if there should be none)

◆ SetName()

void frc::Subsystem::SetName ( const wpi::Twine name)

Sets the name of this Subsystem.

Parameters
namename

◆ SetSubsystem()

void frc::Subsystem::SetSubsystem ( const wpi::Twine subsystem)

Sets the subsystem name of this Subsystem.

Parameters
subsystemsubsystem name

The documentation for this class was generated from the following file: