unit tests

[aeolyus]

Architecture

Structure

• Subsystem
• Command
• Controller (the helper class for the purposes of this doc)

Example

• SwerveSubsystem
  • has access to motor controllers and input
  • does NOT use complicated logic to figure out how to move motor controllers or take input
  • all this does is provide an interface in front of a "group" of motor controllers and inputs
• SwerveController
  • contains state about inputs and possibly previous inputs
  • contains logic concerning output based on inputs and previous inputs
• SwerveCommand
  • this gets passed a SwerveSubsystem and a SwerveController
  • the data flow goes like this:

    SwerveCommand:loop{
      check SwerveSubsystem:input
      feed input from SwerveSubsystem to SwerveController
      SwerveController reports back how to move based on inputs
      feed output into SwerveSubsystem on how to move motor controllers
    }
    

Step	Subsystem	Command	Controller
0	Initialized with motor controllers and input	Initialized with Subsystem and Controller	Initialized with whatever is needed for the function to work (it could be constants, whatever)
1		Command asks Subsystem for input
2	Subsystem gets input and returns it
3		Command takes input and gives it to the Controller
4			Controller takes input and does some calculations and returns it
5		Comamnd takes output of Controller and passes it to Subsystem
6	Subsystem takes those values and sets motor controllers correspondingly
7		Repeat from step 1

Thanks to @xorkevin for this wonderful explanation