Reducing code complexity

[apalrd]

This thread reminds me why I dislike Java and the command architecture for embedded systems.


I've always designed the code so we can pass desired setpoints in a single auton function then terminate. That way, we send the Set command in the script, and the subsystem listens and controls to that commanded value indefinitely (or until disable->enable transition).

This way, the subsystem holds all of the code required to fully run a mechanism, and the rest of the code just is just a button map or auton command. I can test the subsystem individually by commanding setpoint directly, and verify results using all of the data present in the subsystem.

In our C code for Vex, each subsystem gets a single C and two H files (since RobotC dosen't exactly work like normal C, the data is in a H with externs in the other H, if we used 'real' C the data would be in a C, code in a C, and externs/prototypes/typedefs in a H). Main (which runs the main task and HMI) gets another C, and Auton has a few files (autosel, routines, psc, nav). All of the code fits easily in a single directory, and totals ~1400 lines (lots of comments and diagnostics).