Refactor to use command factories instead of public methods #1
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cosyntxd
requested changes
Dec 10, 2024
| .withName("tankDrive"); | ||
| } | ||
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| public void driveTank(double left, double right) { |
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is there supposed to be one that isn't a command.
| m_solnoidRight.set(DoubleSolenoid.Value.kForward); | ||
| }); | ||
| } | ||
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nitpick: make it a little more clear that these shift the speed and not like height or something. It makes sense now but maybe not when I am sleep deprived
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This sets up the drive subsystem to expose command factories, instead of public methods, for its functionality. This allows more visibility into what's causing the subsystem to do something, as well as protecting the state of the subsystem (allowing the command scheduler's requirements system to work).