The Fighting Calculators' code for the FRC 2016 game, FIRST Stronghold!

This project is built on FIRST's command-based programming framework, with structural changes to allow for dependency injection and better separation of concerns. For an overview of command-based programming, see FIRST's documentation.

Below is an overview of our different parts and how they all fit together.

The Config classes in our project contain all robot configuration info. This is any static configuration that we load when the robot starts.

RobotConfig contains references to all of our individual Config classes, like JoysticksConfig and WiringConfig. Each of these config classes loads values from a .properties file on the roboRIO and exposes those properties using getter methods.

DriverStation contains the actual joystick instances. It requires an instance of RobotConfig to be injected so that it can look up port numbers from JoysticksConfig and GamepadConfig.

DriverStation provides methods that enable Commands to access values from the joysticks. DriverStation also handles any input signal manipulation, such as deadband control.

Note: Unlike in previous years, DriverStation will not handle output signal manipulation such as precision or turbo mode. That is the responsibility of the drive command! However, DriverStation may provide a method such as isPrecisionModeEnabled() to assist the command.

Also note: Unlike in previous years, DriverStation will not be mapping commands to joystick buttons! That is the responsibility of JoystickEventMapper, outlined below.

The RobotSubsystems class contains references to all of our individual Subsystem classes. It requires an instance of RobotConfig to be injected so that each subsystem can look up any values it needs. It also requires an instance of DriverStation for the purpose of setting up default commands on each subsystem.

RobotSubsystems conveniently groups our subsystem references together so they can be passed to each of our commands.

The JoystickEventMapper class maps commands to joystick buttons. This is basically the same behavior as any other year, but this year we are not doing this step from within DriverStation (formerly OI).