AbstractPooledSubsystem (yggdrasil API)

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

All Implemented Interfaces:

Subsystem

Direct Known Subclasses:

OneShotPooledSubsystem, RepeatingPooledSubsystem
```
public abstract class AbstractPooledSubsystem
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. Pooled subsystems share a common work queue, and so pooled subsystems should be careful to ensure that their tasks do not contain long-running operations (which includes any Thread.sleeps, Timers, while(true) loops, etc) or else other Subsystems will be unable to execute until the long-running operation has completed. If you need a Subsystem which is able to execute long-running operations without interfering with other Subsystems, use an IndependentSubsystem.

See Also:

AbstractIndependentSubsystem

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

AbstractPooledSubsystem()

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
  - AbstractPooledSubsystem
```
public AbstractPooledSubsystem()
```
- 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