Class SubsystemEquivalent¶
Defined in File subsystem_equivalent.hpp
Class Documentation¶
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class SubsystemEquivalent¶
Allows rail and taproot to mesh susystems more seamlessly without relying on having a subsystem instance.
This allows testing to work better since test instances of classes which inherit from a subsystem or can function as a subsystem (a command must take a IHolonomicSubsystem and not IHolonomicControl due to it needing to register with a subsystem).
The interface must inherit from subsystem, but if it does, then it must have a drivers instance.
There is a cleaner solution: by allowing conversion into a subsystem the interface can provide a command the subsystem for registration but then not require.
It is a pointer because subsytems are passed around via pointers when interacting with traproot.
The fang code does not interact with subsystems as subsystems directly