Quote:
Originally Posted by MrRoboSteve
3081 commonly creates a special SensorSubsystem that is the owner of nearly all of the sensors on the robot. SensorSubsystem has methods on it that allow other subsystems and commands to read sensor values.
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If that works for you, fine, but it's not O-O. The sensors and actuators that work together should be part of the same subsystem. In particular, limit switches, encoders, and potentiometers whose purpose is to provide feedback on a particular actuator should be in the same subsystem with that actuator.