All Known Implementing Classes:

AbstractController, AbstractDrivetrainBase, AbstractIndependentSubsystem, AbstractPooledSubsystem, AbstractPositionEstimator, AbstractSubsystem, ArcadeDrivetrain, BlinkinLEDController, DualSmartDashboardTuner, LogitechAttack3, LogitechDualAction, MecanumDrivetrain, MecanumPositionEstimator, OneShotIndependentSubsystem, OneShotPooledSubsystem, PIDDrivetrain, RepeatingIndependentSubsystem, RepeatingPooledSubsystem, SkidSteerPositionEstimator, SmartDashboardTuner, SmartPIDTuner, TankDrivetrain, WPISmartPIDTuner
```
public interface Subsystem
```
An interface for defining structures which require use of some (physical) resources, and which performs a specific task with these resources, either once or periodically.

Method Summary

All Methods Instance Methods Abstract Methods
Modifier and Type	Method	Description
`void`	`cancel()`	Stop this Subsystem's background task.
`void`	`defineResources()`	Define the set of resourceLocks required for this Subsystem's task.
`java.util.concurrent.Future<?>`	`getJob()`	Get the job representing the execution of this Subsystem's task.
`boolean`	`isCancelled()`	Check if this subsystem's task has been cancelled.
`boolean`	`isDone()`	Check if this subsystem's task has been completed.
`boolean`	`isScheduled()`	Check if this subsystem's task is scheduled to execute.
`boolean`	`isStarted()`	Check if this subsystem's task has been started.
`void`	`require(java.lang.Object resource)`	Define a resource which this Subsystem requires exclusive access to while its task runs.
`void`	`start()`	Start (or restart) this Subsystem's background task.
`void`	`task()`	The background task to run.

- Method Detail
  - require
```
void require(java.lang.Object resource)
```
    Define a resource which this Subsystem requires exclusive access to while its task runs.
    
    Parameters:
    
    resource - the required resource.
  - isCancelled
```
boolean isCancelled()
```
    Check if this subsystem's task has been cancelled.
    
    Returns:
    
    true iff cancelled.
  - isStarted
```
boolean isStarted()
```
    Check if this subsystem's task has been started.
    
    Returns:
    
    true iff started.
  - isScheduled
```
boolean isScheduled()
```
    Check if this subsystem's task is scheduled to execute.
    
    Returns:
    
    true iff scheduled.
  - isDone
```
boolean isDone()
```
    Check if this subsystem's task has been completed. This is never true for repeating subsystems, which are always "Not Started", "Scheduled", or "Cancelled".
    
    Returns:
    
    true iff completed.
  - cancel
```
void cancel()
```
    Stop this Subsystem's background task. If this is a one-shot subsystem, the task will never be run if it has not already started. If it has already started, the task may be cancelled partway through execution. If it has already completed, this has no effect. For repeating subsystems, tasks in progress may be cancelled partway through execution, and in any case, future tasks will no longer be run.
  - start
```
void start()
```
    Start (or restart) this Subsystem's background task.
  - defineResources
```
void defineResources()
```
    Define the set of resourceLocks required for this Subsystem's task.
    
    See Also:
    
    AbstractSubsystem.require(Object)
  - task
```
void task()
   throws java.lang.Exception
```
    The background task to run.
    
    Throws:
    
    java.lang.Exception - in case the defined task throws any Exceptions
  - getJob
```
java.util.concurrent.Future<?> getJob()
```
    Get the job representing the execution of this Subsystem's task.
    
    Returns:
    
    the Future job.

Interface Subsystem

Method Summary

Method Detail

require

isCancelled

isStarted

isScheduled

isDone

cancel

start

defineResources

task

getJob