AbstractIndependentSubsystem (yggdrasil API)

java.lang.Object
- ca.team3161.lib.robot.subsystem.AbstractSubsystem
- - ca.team3161.lib.robot.subsystem.AbstractIndependentSubsystem

All Implemented Interfaces:

Subsystem

Direct Known Subclasses:

OneShotIndependentSubsystem, RepeatingIndependentSubsystem
```
public abstract class AbstractIndependentSubsystem
extends AbstractSubsystem
```
Abstracts a system which uses resourceLocks and has some task (recurring or one-shot) to be performed. An example is PID control - monitor sensors and periodically set motor values based on this. Independent subsystems do not share a common work queue, and so independent subsystems are suitable for tasks which contain long-running operations (which includes any Thread.sleeps, Timers, while(true) loops, etc), as this will not affect other Subsystems' execution. However, there is more overhead involved with this. If you do not need a Subsystem which is able to execute long-running operations without interfering with other Subsystems, use a PooledSubsystem so that the workload can be shared among threads.

See Also:

AbstractPooledSubsystem

Nested Class Summary
- Nested classes/interfaces inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem
  AbstractSubsystem.RunTask

Field Summary
- Fields inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem
  job, resourceLocks, THREAD_PRIORITY

Constructor Summary

Constructors
Constructor Description

AbstractIndependentSubsystem()

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`java.util.concurrent.ScheduledExecutorService`	`getExecutorService()`	Get the executor service which executes this subsystem's tasks.

Methods inherited from class ca.team3161.lib.robot.subsystem.AbstractSubsystem
acquireResources, cancel, getJob, isCancelled, isScheduled, isStarted, releaseResources, require

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface ca.team3161.lib.robot.subsystem.Subsystem
defineResources, isDone, start, task

- Constructor Detail
  - AbstractIndependentSubsystem
```
public AbstractIndependentSubsystem()
```
- Method Detail
  - getExecutorService
```
public java.util.concurrent.ScheduledExecutorService getExecutorService()
```
    Description copied from class: AbstractSubsystem
    
    Get the executor service which executes this subsystem's tasks. This service may or may not be shared with other subsystems; for Independent subsystems it is never shared, and for Pooled subsystems it is always shared.
    
    Specified by:
    
    getExecutorService in class AbstractSubsystem
    
    Returns:
    
    the executor service.
    
    See Also:
    
    AbstractIndependentSubsystem, AbstractPooledSubsystem