Package edu.wpi.first.wpilibj.templates.commands

Source Code of edu.wpi.first.wpilibj.templates.commands.CommandBase

package edu.wpi.first.wpilibj.templates.commands;

import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.templates.OI;
import edu.wpi.first.wpilibj.templates.subsystems.BallPickup;
import edu.wpi.first.wpilibj.templates.subsystems.BallShooter;
import edu.wpi.first.wpilibj.templates.subsystems.BridgeArm;
import edu.wpi.first.wpilibj.templates.subsystems.DriveTrain;

/**
* The base for all commands. All atomic commands should subclass CommandBase.
* CommandBase stores creates and stores each control system. To access a
* subsystem elsewhere in your code in your code use CommandBase.exampleSubsystem
* @author Author
*/
public abstract class CommandBase extends Command {

    public static OI oi;
   
    // Create a single static instance of all of your subsystems
    public static DriveTrain drivetrain = new DriveTrain();
    public static BallShooter shooter = new BallShooter();
    public static BallPickup pickup = new BallPickup();
    public static BridgeArm bridgearm = new BridgeArm();

    public static void init() {
        // This MUST be here. If the OI creates Commands (which it very likely
        // will), constructing it during the construction of CommandBase (from
        // which commands extend), subsystems are not guaranteed to be
        // yet. Thus, their requires() statements may grab null pointers. Bad
        // news. Don't move it.
        oi = new OI();
        // Show what command your subsystem is running on the SmartDashboard

        SmartDashboard.putData(drivetrain);
        SmartDashboard.putData(shooter);
        SmartDashboard.putData(pickup);
    }

    public CommandBase(String name) {
        super(name);
    }

    public CommandBase() {
        super();
    }
}
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