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Mechanisms and Subsystems

In this module, we will explore the concept of mechanisms and subsystems in FRC robots. Unlike traditional subsystem-based designs, we will focus on a modular approach that allows for reusable components. This method emphasizes the creation of mechanisms that can be easily integrated into different subsystems, promoting flexibility and efficiency in robot design.

Presentation​

Do this lesson in Scriptum

The exercises below are the Mechanisms and Subsystems lesson in Scriptum. Open the lesson, start the simulated robot and follow its README. Each step is checked with the Verify button.

New Java in this lesson: enums and switch, inheritance (extends and @Override), constructors, and lists.

Exercises​

Subsystems​

  • Read the DrivetrainSubsystem: its states, its switch, and its getInstance()
  • Drive from the subsystem: call arcadeDrive with the OI sticks in updateLogic()

Mechanisms and Subsystems​

  • Finish the ShooterConstants class
    • Add the roller motor configuration and its index duty cycle
  • Create a Shooter Subsystem
    • Add a flywheel Mechanism
    • Add a roller mechanism
    • Write the shoot button logic with an if / else: run the flywheel while the button is held, otherwise let it coast to a stop
    • Create logic to allow a button press to index
  • Update OI to read the shoot and index buttons
  • Update the RobotContainer to register your subsystem

Software​

  • Mechanisms: Overview of mechanisms in FRC robots (Unique to MARS/WARE).
  • Subsystems: Overview of subsystems in FRC robots (Unique to MARS/WARE).