Quote:
Originally Posted by Joe Ross
There are sometimes that the state of a subsystem needs to be periodically updated, and isn't (necessarily) the result of a command. For example, consider a chassis subsystem that is keeping track of of the X-Y Location of the robot on the field using encoders and a gyro. The location may change when the robot isn't supposed to be moving, because the robot may be bumped. In order to get accurate results, you need to operate on small enough timesteps of data. If you don't have a command that is calling the updateLocation method, you will lose data.
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I would think your default command for the chassis would take care of calling the updateLocation() method for you if/when it's required?