Software Assignment 4

What is the main purpose of a subsystem in FRC programming?

• To control individual motors
• To group parts typically used together
• To execute commands
• To debug the robot

Answer explanation

Subsystems group parts typically used together for easier management and control.

Which method is typically used to set the speed of motors in a subsystem?

• setSpeed()
• runMotors()
• set()
• speedControl()

Answer explanation

The set() method is commonly used to control motor speed

Commands in FRC programming are meant to:

• Run for a specific time
• Constantly run or achieve a specific goal
• Only run during the autonomous period
• Only run during the teleoperated period

Answer explanation

Commands are programs that can either run continuously or achieve specific goals.

Which of the following is NOT a characteristic of a subsystem?

• Contains motors and sensors
• Can have functions overridden
• Runs independently of commands
• Can be used to organize code for multiple uses

Answer explanation

Subsystems do not run independently; they are controlled by commands.

What function would you use to check if a subsystem is at its target state?

• isAtTarget()
• checkTarget()
• atTarget()
• isFinished()

Answer explanation

The isFinished() function is often used to check if a command or subsystem has reached its target.

Which of the following is an example of a command in FRC programming?

• Subsystem.run()
• Command.execute()
• System.start()
• Robot.control()

Answer explanation

Command.execute() is a method used within command classes to perform actions.

What is the purpose of the initialize() method in a command?

• To start the robot
• To prepare the command for execution
• To check sensor values
• To stop all motors in prep for the command

Answer explanation

The initialize() method sets up any necessary conditions before the command runs.

How can commands be scheduled in FRC programming?

• By directly calling execute after initializing them
• Using the schedule() method
• By defining them in the main program loop
• Through sensor feedback only

Answer explanation

The schedule() method is used to queue commands for execution. Correct Answer: B

Which method is used to clean up resources when a command ends?

• cleanup()
• end()
• finish()
• isFinished()

Answer explanation

The end() method is called to perform any necessary cleanup when a command finishes.

In FRC, what is the purpose of the isFinished() method in a command?

• To stop the command
• To check if the command should end
• To initialize the command
• To reset the command

Answer explanation

The isFinished() method determines when a command should stop running.