Adding more subsystems
With a simple robot configuration file set up and drivebase configured, adding more devices to your configuration file is essential.
To understand more about the subsystem/hardware interaction, read this page from the BunyipsLib Wiki.
Looking at other examples is also a good way of learning how to use subsystems. Review the robot code from other robots within your project.
The set of available built-in subsystems to use can be found on this page of the BunyipsLib Wiki.
A table is presented below describing the uses of some hardware devices and corresponding subsystem.
| Subsystem | Hardware | Use case |
|---|---|---|
| Drivebases (previous section) | Varying # DcMotor | Robot locomotion. |
HoldableActuator | 1x DcMotor, varying # TouchSensor | Any encoder-enabled motor used for precise control. Integrates limit switches autonomously. |
Actuator | 1x CRServo | Any encoder-disabled motor/servo used to rotate. |
Switch | 1x Servo | Standard subsystem to control a Servo. Not related to limit switches. |
DualServos | 2x Servo | Runs two Servo instances together. Simplified version of Switch. |
note
This list is not extensive and more information is available on the wiki.
Pages within this subsection will demonstrate some simple purpose hardware and subsystem configurations commonly used within robots.