Updating Robot

Before we can create the command to use the driveTrain subsystem, we need to create an instance of the subsystem in Robot.java.

All we need is three lines of codes to be added to the Robot class.

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import frc.robot.subsystems.DriveTrain;

public class Robot extends TimedRobot {

   public static OI oi;
   public static DriveTrain drive;

   @Override
   public void robotInit(){
      oi = new OI();
      drive = new DriveTrain();
   }
  • On line 1, we import the driveTrain subsystem.

  • On line 6, we create the reference to DriveTrain and assign it a local identifier.

  • On line 11, we create the instance of DriveTrain.

That’s all that needs to be added, and the command scheduler will handle the rest.