Lesson 28: RAHS

RAHS stands for Robot, Actions, Hardware, and Sensors. It is a simple way to think about organizing a robot project so students can find where code belongs.

Robot

The robot class should coordinate the program. It should create major objects and call their update methods. It should not contain every motor command for every mechanism.

Actions

Actions are things the robot is trying to do: drive straight, intake a game piece, aim, climb, or hold an arm position. Actions often combine driver input, state, and sensor feedback.

Hardware

Hardware classes own motors, solenoids, and sensors for a mechanism. For example, a drive train class owns the drive motors and encoders. Other code should ask the drive train to do something instead of setting its motors directly.

Sensors

Sensors turn the physical robot into numbers or booleans. Good sensor code uses clear names and conversions so the rest of the robot does not need to know raw ports or counts.

Why This Helps

When a bug appears, organization narrows the search. If the intake motor is backwards, look in hardware or calibration. If the intake never starts, look in actions or controls. If the robot reads the wrong switch, look in sensors or wiring.

Practice

Take one robot mechanism and sort its code into RAHS categories. If one class contains everything, sketch how you would split it.