Grabbing subsystem data to use in another subsystem in Command Based

[DjScribbles]

Yes, you can access other subsystems to get information; depending on how strictly you want to adhere to the command based approach, this may be 'cheating' a little, but for read only access it doesn't do any harm.

The Robot class has static instances of all subsystems, so you can access them from anywhere that includes Robot.h (just as is done in commands).

The syntax is as follows:

bool ShooterPiston::Fire()
{
    bool returnValue = false;
    
    if ((Robot::shooterWheels->IsUpToSpeed() == true) &&
        (Robot::shooterArm->IsOnTarget() == true) &&
         ....
    {
        firingSolenoid->Set(DoubleSolenoid::kReverse);
        returnValue = true;
    }
    return returnValue;
}

[Joe Ross]

Originally Posted by kylelanman

All commands inherit CommandBase and CommandBase contains static instances of each subsystem.

Originally Posted by DjScribbles

The Robot class has static instances of all subsystems, so you can access them from anywhere that includes Robot.h (just as is done in commands).

In case anyone is confused, both Kyle and Joe are correct, depending on how you started your project. Currently, if you build your build your project with the Windriver plugins, you get a CommandBase that contains all subsystems. If you use RobotBuilder, the Robot class contains all subsystems.