IO Abstraction

Overview

Breaks up subsystems into 4 main components: the interface, the hardware implementation, the simulation implementation, and the actual subsystem.

Subsystem Structure

Subsystem/
├── Subsystem.java
├── SubsystemIO.java
├── SubsystemIOHardware.java
└── SubsystemIOSim.java

The example above does this for a simple motor movement subsystem. To get this code to work, just create a Power loop (a.k.a. testbench) with a TalonFX motor.

Important

When making your own subsystem, keep the following in mind:

For @AutoLog, make sure to add this line to the dependencies section in build.gradle:

annotationProcessor 'org.littletonrobotics.akit:akit-autolog:26.0.2'

Also ensure that you have the AdvantageKit and Phoenix 6 dependencies installed on your machine.

Running the Simulation

1. Select Simulate Robot Code, then choose Sim GUI.
2. Make sure your controller is connected and configured correctly in the Sim GUI. (dont forgor to select teleop boi)
3. Open AdvantageScope and select Connect to Simulator.
4. Choose Default: Connect to NT4.
5. Everything should now be configured! Try moving the joystick and watch the motor respond in AdvantageScope.

If you've made it this far, how about you try making a simple subsystem yourself using the same core principles outlined in this project?

After all, the only way to learn is by doing, not by reading this README...