Akit File Structure

Overall Structure

When implementing akit into your robot code, you need always need four files for each subsystem: the configs file, the input output interface, input output class, and the subsystem file. For subsystems that move, such as an elevator, you also need an enum for positions.

 

Configs File

This file lists out all the configurations for the motors and sensors in the subsystem. It includes tuning constants, motor and sensor IDs, motor configs, and any motion magic requests you might need.

Follow the naming convention of "(SubsystemName)Configs".

Subsystem configs:configs example:

Tuning settings:settings example:

Motor configs:configs example:

Canrange configs:configs example:

 

Input Output Interface

This interface is used to list what you want to log with akit and how you want to be able to control the devices in the subsystem. It includes a class of all the inputs being logged.

The interface should be named "(SubsystemName)IO".

Inputs class to signify what akit is logging (make sure to use the @AutoLog decorator):

The updateInputs method will be used to log the inputs. Because this is an interface (outside of the ClimberIOInputs from earlier), none of these methods should have any code in them. Each method should have the void return type.