Package ca.team4308.absolutelib.wrapper

Class AbsoluteSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

ca.team4308.absolutelib.wrapper.AbsoluteSubsystem

All Implemented Interfaces:

Sendable, Subsystem

Direct Known Subclasses:

Arm, Elevator, EndEffector, MotoredSubsystem, Pivot, SimulationBase

public abstract class AbsoluteSubsystem
extends SubsystemBase

Extends SubsystemBase to provide logging capabilities and more helper methods.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
protected static interface	AbsoluteSubsystem.LoggingBackend	Interface for custom logging backends.

Constructor Summary

Constructors

Constructor	Description
AbsoluteSubsystem()	Constructs a new AbsoluteSubsystem.

Method Summary

Modifier and Type	Method	Description
protected String	getLogChannelBase()	Gets the base log channel for this subsystem.
void	initialize()	Initializes the subsystem.
abstract Sendable	log()	Provide a Sendable for telemetry/logging; may return null if unused.
protected void	logBoolean(String key, boolean value)	Log a boolean value.
protected void	logError(String message)	Log an error.
protected void	logError(String message, Throwable t)	Log an error with throwable
protected void	logInfo(String message)	Log info.
protected void	logNumber(String key, double value)	Log a number value.
protected void	logOnce(String key, String message)	Log a message only the first time for the given key.
protected void	logThrottle(String key, long minIntervalMs, String message)	Throttled log: only logs if at least minIntervalMs since last time for the key.
protected void	logWarn(String message)	Log a warning.
protected void	onInitialize()	Called during initialization.
protected void	onPostPeriodic()	Called after periodic execution.
protected void	onPrePeriodic()	Called before periodic execution.
protected void	onStop()	Hook: called when the subsystem is requested to stop.
protected void	recordOutput(String name, Object value)	Record an output value for logging/telemetry.
protected final void	runPeriodicWithHooks(Runnable body)	Helper to run a periodic body surrounded by pre/post hooks.
protected void	runSafely(String label, Runnable body)	Wrap a runnable and log any thrown exception with a label.
void	setCustomLoggingBackend(AbsoluteSubsystem.LoggingBackend custom)	Allows external code to supply a custom backend implementation.
void	stop()	Stop the subsystem.

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, idle, periodic, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

AbsoluteSubsystem

public AbsoluteSubsystem()

Constructs a new AbsoluteSubsystem.

Method Details

log

public abstract Sendable log()

Provide a Sendable for telemetry/logging; may return null if unused.

Returns:

the Sendable associated with this subsystem

getLogChannelBase

protected String getLogChannelBase()

Gets the base log channel for this subsystem.

Returns:

the log channel string

recordOutput

protected void recordOutput(String name,
 Object value)

Record an output value for logging/telemetry. Uses AdvantageKit's Logger if available, otherwise falls back to SmartDashboard.

Parameters:

name - Key for the output

value - The value to record

logInfo

protected void logInfo(String message)

Log info.

Parameters:

message - the message to log

logWarn

protected void logWarn(String message)

Log a warning.

Parameters:

message - the message to log

logError

protected void logError(String message)

Log an error.

Parameters:

message - the message to log

logError

protected void logError(String message,
 Throwable t)

Log an error with throwable

Parameters:

message - the message to log

t - the throwable

logNumber

protected void logNumber(String key,
 double value)

Log a number value.

Parameters:

key - the key

value - the number

logBoolean

protected void logBoolean(String key,
 boolean value)

Log a boolean value.

Parameters:

key - the key

value - the boolean

logOnce

protected void logOnce(String key,
 String message)

Log a message only the first time for the given key.

Parameters:

key - the unique key for this log

message - the message

logThrottle

protected void logThrottle(String key,
 long minIntervalMs,
 String message)

Throttled log: only logs if at least minIntervalMs since last time for the key.

Parameters:

key - the identifier

minIntervalMs - the min interval

message - the message

runSafely

protected void runSafely(String label,
 Runnable body)

Wrap a runnable and log any thrown exception with a label.

Parameters:

label - the log label

body - the runnable action

setCustomLoggingBackend

public void setCustomLoggingBackend(AbsoluteSubsystem.LoggingBackend custom)

Allows external code to supply a custom backend implementation.

Parameters:

custom - the custom backend

initialize

public void initialize()

Initializes the subsystem.

onInitialize

protected void onInitialize()

Called during initialization.

onPrePeriodic

protected void onPrePeriodic()

Called before periodic execution.

onPostPeriodic

protected void onPostPeriodic()

Called after periodic execution.

runPeriodicWithHooks

protected final void runPeriodicWithHooks(Runnable body)

Helper to run a periodic body surrounded by pre/post hooks. Subclasses may call this from Subsystem.periodic().

Parameters:

body - the executable logic

stop

public void stop()

Stop the subsystem. Default implementation calls onStop().

onStop

protected void onStop()

Hook: called when the subsystem is requested to stop. Default no-op.