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/**
* CommandBase - defines robot hardware; superclass of all commands.
*
* Copyright (c) FIRST 2008. All Rights Reserved.
* Open Source Software - may be modified and shared by FRC teams. The code
* must be accompanied by the FIRST BSD license file in the root directory of
* the project.
*
* Copyright (c) 2012 Precise Path Robotics, Inc
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @author Luke Shumaker <lukeshu@sbcglobal.net>
*/
package org.mckenzierobotics.lib.robot;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Subsystem;
/**
* The base for all commands, also the class defining robot hardware/config.
* All atomic commands should subclass CommandBase. CommandBase stores creates
* and stores each control system.
*
* @author Luke Shumaker <lukeshu@sbcglobal.net>
*/
public abstract class CommandBase extends Command {
private boolean has_subsystems = true;
protected synchronized void requires(Subsystem subsystem) {
if (subsystem == null) {
has_subsystems = false;
}
super.requires(subsystem);
}
public synchronized void start() {
if (has_subsystems) { super.start(); }
}
/**
* Instantiate a CANJaguar, handling exceptions.
*
* @param id CANJaguar ID to use.
* @return the CANJaguar
*/
public static CANJaguar getJaguar(int id) {
CANJaguar ret = null;
try {
ret = new CANJaguar(id);
} catch(Exception e) {
e.printStackTrace();
}
return ret;
}
public CommandBase() { super(); }
public CommandBase(double timeout) { super(timeout); }
public CommandBase(String name) { super(name); }
public CommandBase(String name, double timeout) { super(name, timeout); }
}
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