Class Subsystem

java.lang.Object
edu.wpi.first.wpilibj.command.Subsystem
All Implemented Interfaces:
Sendable, AutoCloseable
Direct Known Subclasses:
PIDSubsystem

public abstract class Subsystem
extends Object
implements Sendable, AutoCloseable
This class defines a major component of the robot.

A good example of a subsystem is the drivetrain, or a claw if the robot has one.

All motors should be a part of a subsystem. For instance, all the wheel motors should be a part of some kind of "Drivetrain" subsystem.

Subsystems are used within the command system as requirements for Command. 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.

This class is provided by the OldCommands VendorDep

See Also:
Command