Offseason code structure

Jump to bottom

Ishan edited this page Jun 16, 2024 · 3 revisions

2024 Offseason

By Ishan

for the offseason bobot

IO - interface used by the <Mechanism>IO<Hardware/Sim> class for input AutoLogging.

Hardware - generally deals with configs (PID, soft limits, signals and stuff).

Sim - class used by the physics sim when simulating robot code, useful for testing if code conceptually works.

Subsystem - create functions for running the mechanism, used in commands.

Flywheel
- Main Subsystem
- IO
  - Hardware
  - Sim
Elevator
- Main Subsystem
- IO
  - Hardware
  - Sim
Pivot
- Main Subsystem
- IO
  - Hardware
  - Sim
Intake
- Main Subsystem
- IO
  - Hardware
  - Sim
Vision
- Main Subsystem
- IO
  - Hardware
  - Sim (photon)
Swerve
- Main Drive Subsytem (Combines module & gyro info)
- GyroIO:
  - Hardware (NavX)
  - Sim
- (Swerve) Module
  - ModuleIO:
    - Hardware (TalonFX)
    - Sim
- Odometry Thread