Adding Commands and Subsystems to the Project¶
This documentation describes the use of the legacy command-based library. While this documentation has been preserved to help teams that have yet to do so, teams are strongly encouraged to migrate to the new command-based library.
Commands and Subsystems each are created as classes. The plugin has built-in templates for both Commands and Subsystems to make it easier for you to add them to your program.
Adding Subsystems to the Project¶
To add a subsystem, right-click on the desired folder and select Create a new class/command in the drop down menu. Then select Subsystem (Old) or PID Subsystem (Old).
Naming the Subsystem¶
Fill in a name for the subsystem. This will become the resultant class name for the subsystem so the name has to be a valid class name for your language.
Subsystem Created in Project¶
You can see the new subsystem created in the Subsystems folder in the project. To learn more about creating subsystems, see the Simple Subsystems article.
Adding a Command to the Project¶
A command can be created for the project using steps similar to creating a subsystem. First right-click on the folder name in the project, then select Create a new class/command in the drop down menu. Then select Command (Old), Instant Command (Old), TimedCommand (Old), Command Group (Old):
Command - A basic command that operates on a subsystem
Instant Command - A command that runs and completes instantly
Timed Command - A command that runs for a specified time duration
Command Group - A command that is runs other commands
Set the Command Name¶
Enter the Command name into the dialog box. This will be the class name for the Command so it must be a valid class name for your language.