Class RobotBase

  • All Implemented Interfaces:
    AutoCloseable
    Direct Known Subclasses:
    IterativeRobotBase, SampleRobot

    public abstract class RobotBase
    extends Object
    implements AutoCloseable
    Implement a Robot Program framework. The RobotBase class is intended to be subclassed by a user creating a robot program. Overridden autonomous() and operatorControl() methods are called at the appropriate time as the match proceeds. In the current implementation, the Autonomous code will run to completion before the OperatorControl code could start. In the future the Autonomous code might be spawned as a task, then killed at the end of the Autonomous period.
    • Field Detail

      • MAIN_THREAD_ID

        public static final long MAIN_THREAD_ID
        The ID of the main Java thread.
    • Constructor Detail

      • RobotBase

        protected RobotBase()
        Constructor for a generic robot program. User code should be placed in the constructor that runs before the Autonomous or Operator Control period starts. The constructor will run to completion before Autonomous is entered.

        This must be used to ensure that the communications code starts. In the future it would be nice to put this code into it's own task that loads on boot so ensure that it runs.

    • Method Detail

      • isSimulation

        public static boolean isSimulation()
        Get if the robot is a simulation.
        Returns:
        If the robot is running in simulation.
      • isReal

        public static boolean isReal()
        Get if the robot is real.
        Returns:
        If the robot is running in the real world.
      • isDisabled

        public boolean isDisabled()
        Determine if the Robot is currently disabled.
        Returns:
        True if the Robot is currently disabled by the field controls.
      • isEnabled

        public boolean isEnabled()
        Determine if the Robot is currently enabled.
        Returns:
        True if the Robot is currently enabled by the field controls.
      • isAutonomous

        public boolean isAutonomous()
        Determine if the robot is currently in Autonomous mode as determined by the field controls.
        Returns:
        True if the robot is currently operating Autonomously.
      • isTest

        public boolean isTest()
        Determine if the robot is currently in Test mode as determined by the driver station.
        Returns:
        True if the robot is currently operating in Test mode.
      • isOperatorControl

        public boolean isOperatorControl()
        Determine if the robot is currently in Operator Control mode as determined by the field controls.
        Returns:
        True if the robot is currently operating in Tele-Op mode.
      • isNewDataAvailable

        public boolean isNewDataAvailable()
        Indicates if new data is available from the driver station.
        Returns:
        Has new data arrived over the network since the last time this function was called?
      • startCompetition

        public abstract void startCompetition()
        Provide an alternate "main loop" via startCompetition().
      • getBooleanProperty

        public static boolean getBooleanProperty​(String name,
                                                 boolean defaultValue)
      • startRobot

        public static <T extends RobotBase> void startRobot​(Supplier<T> robotSupplier)
        Starting point for the applications.