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…between different subsystems for different environments.
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This also changes where the IO implementation is instantiated, instead of being created inside the TunerConstants, they are created inside the RobotContainer, depending on the robot it's running on. This requires very small changes to the TunerConstants. (Deleting 2 lines and changing private to public 5 times) |
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Organizes the RobotContainer and Subsystem initialization into different runtime environments, to allow for different IO implementations for different robots, and using different drivebase constants for different robots.
This also organizes Constants.java by making the robot automatically select between different states.
This will work as follows:
If the code is running on a real robot, run code for a real robot based on the specified robot in constants. If it is set to simulation bot on a real robot, the code will exit due to invalid configuration.
If the code is running on a laptop / a simulation, it will run code based on the specified robot, if the robot is specified as the comp or practice bot, it will assume that you are running a log replay. If it is specified as a simbot, it will run as a simulation, (aka run real robot code but with simulated hardware layers).