Code Organization

Before we begin with actual programming, first you need to understand how Raid One (and Raid Zero) code is organized.

Submodules

Every submodule should be organized in its own class which inherits from the Submodule class. For your custom features to work, you need to override methods from the Submodule class. Here are brief explainations of what each method in submodule does:

On Init

@Override
public void onInit() {}

This method only runs once at the start of robot code execution. Most things that usually happen in a java constructor should run here.

On Start

@Override
public void onStart(double timestamp) {}

This method runs once at the start of autonomous and teleop. timestamp is the time in seconds since initialization.

Update

@Override
public void update(double timestamp) {}

This method reads cached inputs & calculate outputs (and yes it is basically identical to run()). timestamp is the time in seconds since initialization.

Run

@Override
public void run() {}

This method runs components in the submodule that have continuously changing inputs (and yes it is basically identical to update(double timestamp)).

Stop

@Override
public abstract void stop() {}

This method runs when the robot gets disabled.

Zero

@Override
public void zero() {}

This method zeros all sensors.

Note

When you make a new submodule, you must add it to Robot.java:

@Override
public void robotInit() {
    // Register all submodules here
    submoduleManager.setSubmodules(
        superstructure,
        PUT_YOUR_SUBMODULES_HERE
    );
    submoduleManager.onInit();

    autoRunner = new AutoRunner();
}