Robot Container Part 2

In part 2, the error is going to be fixed. The error occurs as the VisionSubsystem and VisionCommand are linked in the command. However, they are not linked on the subsystem level.

Imports

In the imports section, one more import will be added.

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package frc.robot;

import frc.robot.subsystems.VisionSubsystem;
import frc.robot.commands.VisionCommand;

  • Line 11 is the addition as VisionCommand needs to be imported.

Constructor

The last change is in the constructor, where the default command for the VisionSubsystem will be set.

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    public RobotContainer()
    {
        vision = new VisionSubsystem();

        vision.setDefaultCommand(new VisionCommand());
    }

  • Line 31 assigns a default command for the VisionSubsystem and that default command is VisionCommand

Full Code Part 2

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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc.robot;

import frc.robot.subsystems.VisionSubsystem;
import frc.robot.commands.VisionCommand;

/**
* This class is where the bulk of the robot should be declared.  Since Command-based is a
* "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
* periodic methods (other than the scheduler calls).  Instead, the structure of the robot
* (including subsystems, commands, and button mappings) should be declared here.
*/
public class RobotContainer
{
    // The robot's subsystems and commands are defined here...
    public static VisionSubsystem vision;

    /**
    * The container for the robot.  Contains subsystems, OI devices, and commands.
    */
    public RobotContainer()
    {
        vision = new VisionSubsystem();

        vision.setDefaultCommand(new VisionCommand());
    }
}