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.

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...