Lab 7 Adding a Command to the robot - MDHSRobotics/TeamWiki GitHub Wiki

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#Lab 7 - Adding a Command to the robot

###Objective In this lab, you will create a new Command for the robot.

###Prerequisite

• Tote2016 project opened in Eclipse

###Steps

1. Create a new Command class

   • Expand the src folder in the package explorer
   • Right click on the org.usfirst.frc.team4141.robot.commands package to bring up the context menu
   • Select the Class option from the new Menu
   • Enter a name for your Command class, e.g. MyCommand
   • Set the Superclass to org.usfirst.frc.team4141.MDRobotBase.MDCommand
   • click the Finish button

2. Implement required methods

   • Hover over the class name, and select the auto fix option, this will add a constructor to the class.

3. Override and implement the execute() method

    @Override
    protected void execute() {
    	super.execute();
    	int count = getRobot().getSubsystems().get("mySubsystem").getConfigSettings().get("setting").getInt();
    	for(int i=0;i<count;i++){
    		log("execute", "MyCommand executed");
    	}
    }
   

4. Configure the OI to use the newly created command. Update the configureOI() method of the OI class to be the following:

    public void configureOI(){
    	//A robot should have 1 or more operator interfaces (OI)
    	//Typically, a robot will have at least 1 joystick and 1 console
    	
    	//Configure the joystick(s) here
    	add(new MDJoystick(getRobot(), "joystick1", 0)
    		.whenPressed("A",3,new MyCommand(getRobot(),"MyCommand"))
    		.configure()
    	);
   
    	//Configure the RioHID here
    	// Uncomment the following to attach a command to the user button on the RoboRio
   

// add(new RioHID(getRobot()) // .whileHeld(new MDPrintCommand(getRobot(),"ExampleCommand1","ExampleCommand1 message")) // .configure() // );

	//Configure the MDConsole OI here		
	add(new ConsoleOI(getRobot())
			.whenPressed("Command1",0,new MDPrintCommand(getRobot(),"Command1","Command1 message"))
			.whenPressed("MyCommand",0,new MyCommand(getRobot(),"MyCommand"))
			.configure()
		);		
	
}

5. Save and close any files you have created or modified.