Features

What is a feature?

Features are reusable pices of code which can be recycled between robots. Think camera code, drivetrains, arms, etc. Features are defined similarly to OperationModes in that they are defined as a class that extends Feature.

class MyFeature: Feature() {
    override fun loop() {
        // This is called repeatedly when the user presses the Play button
    }
}

Optionally, the class can also implement Buildable to add the build() function. This is called once the user presses Init.

class MyFeature: Feature(), Buildable {
    override fun build() {
        // This is called once when the user presses the Init button
    }
    override fun loop() {
        // This is called repeatedly when the user presses the Play button
    }
}

How to add Features to an OperationMode

In the OperationMode, use the function registerFeature() to add a feature to the OperationMode. This function takes in a Feature object.

registerFeature(MyFeature())

tip

Ideally this should be added to the construct() function of the OperationMode, but it can be added anywhere, although not recommended.