Tough Techs

The mechanisms that the software controls are organized into subsystems and the software structure follows this same organization. The steps to add a new subsystem to the robot template or a repository based on the template are as follows:

1. Add the subsystem class including setup and control of associated hardware, logging of subsystem data and public methods to control and monitor the subsystem. The file goes in robot/subsystems.
2. Add subsystem specific constants including preferences to the constants.java file in the robot folder.
3. Edit the RobotContainer.java file to instantiate the new subsystem, connect operator controller inputs to subsystem commands. We also need a method for other classes to get a reference to the subsystem - this is primarily for data logging and simulation. Add publishing of the subsystem data including commands via the sendable interface.
4. Add a subsystem model class to the sim folder for simulation and modify the top level RobotModel to run the new subsystem model. Add any new simulation constants to the sim/constants file.