#Wpilib screensteps autonomous chooser code#

Subsystems are the basic unit of robot organization in the design-based paradigm. The command-based pattern is based around two core abstractions: commands, and subsystems. For example, in a command-based program, a user can specify that 'the robot should perform an action when a button is pressed': Thus, the command-based libraries allow users to define desired robot behaviors while minimizing the amount of iteration-by-iteration robot logic that they must write. In declarative programming, the emphasis is placed on what the program ought to do, rather than how the program ought to do it. The command-based paradigm is also an example of what is known as declarative programming.

#Wpilib screensteps autonomous chooser code#

It is not the only way to write a robot program, but it is a very effective one command-based robot code tend to be clean, extensible, and (with some tricks) easy to re-use from year to year. It is a general way of organizing one's robot code that is well-suited to a particular problem-space. 'Command-based' programming is an example of what is known as a design pattern. In general, 'command-based' can refer both the general programming paradigm, and to the set of WPILib library resources included to facilitate it.

WPILib supports a robot programming methodology called 'command-based' programming. Table of contents generated with markdown-toc What is 'command-based' programming? PID control through PIDSubsystems and PIDCommands.Structuring a command-based robot project.Restrictions on command group components.Recursive composition of command groups.Command-Based Library Screensteps: Markdown Edition