# Component

A Component has one main method, update, which is repeatedly called by the CommandScheduler. In addition, Components have an optional getDefaultCommand method which returns a command that is scheduled whenever they are not in use. Components can only be used by one Command at a time to avoid conflict between commands.

Instead of creating a separate class, components can also be inlined with Component.of:

import com.amarcolini.joos.command.Component;

Component.of(() -> {
    //This is the component's update method
}, someCommand //You can optionally provide a default command
);

import com.amarcolini.joos.command.Component

Component.of(
    someCommand //You can optionally provide a default command
) {
    //This is the component's update method
}

# AbstractComponent

AbstractComponent is an abstract version of Component with several utility methods that make your life easier.

Currently, the only added functionality AbstractComponent provides is support for subcomponents, like Motors and Servos, that need their own update methods called, but aren't a separate component of the robot. It also gives you telem to access SuperTelemetry. To add a subcomponent, use subcomponents.add(), and if you override update(), make sure to insert a call to super.update() as well.

import com.amarcolini.joos.command.AbstractComponent;
import com.amarcolini.joos.hardware.Motor;

public class MyComponent extends AbstractComponent {
    public MyComponent(Motor subcomponent) {
        subcomponents.add(subcomponent);
    }

    @Override
    public void update() {
        super.update(); //Make sure to include this

        //Do other stuff here
    }
}

import com.amarcolini.joos.command.AbstractComponent
import com.amarcolini.joos.hardware.Motor

class MyComponent(subcomponent: Motor) : AbstractComponent() {
    init {
        subcomponents.add(subcomponent)
    }

    override fun update() {
        super.update() //Make sure to include this

        //Do other stuff here
    }
}