WPILibC++
unspecified
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IterativeRobot implements a specific type of Robot Program framework, extending the RobotBase class. More...
#include <IterativeRobot.h>
Public Member Functions | |
virtual void | StartCompetition () |
Provide an alternate "main loop" via StartCompetition(). More... | |
virtual void | RobotInit () |
Robot-wide initialization code should go here. More... | |
virtual void | DisabledInit () |
Initialization code for disabled mode should go here. More... | |
virtual void | AutonomousInit () |
Initialization code for autonomous mode should go here. More... | |
virtual void | TeleopInit () |
Initialization code for teleop mode should go here. More... | |
virtual void | TestInit () |
Initialization code for test mode should go here. More... | |
virtual void | DisabledPeriodic () |
Periodic code for disabled mode should go here. More... | |
virtual void | AutonomousPeriodic () |
Periodic code for autonomous mode should go here. More... | |
virtual void | TeleopPeriodic () |
Periodic code for teleop mode should go here. More... | |
virtual void | TestPeriodic () |
Periodic code for test mode should go here. More... | |
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bool | IsEnabled () const |
Determine if the Robot is currently enabled. More... | |
bool | IsDisabled () const |
Determine if the Robot is currently disabled. More... | |
bool | IsAutonomous () const |
Determine if the robot is currently in Autonomous mode. More... | |
bool | IsOperatorControl () const |
Determine if the robot is currently in Operator Control mode. More... | |
bool | IsTest () const |
Determine if the robot is currently in Test mode. More... | |
bool | IsNewDataAvailable () const |
Indicates if new data is available from the driver station. More... | |
Static Public Attributes | |
static constexpr double | kDefaultPeriod = 0.0 |
Additional Inherited Members | |
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static RobotBase & | getInstance () |
static void | setInstance (RobotBase *robot) |
static void | startRobotTask (FUNCPTR factory) |
static void | robotTask (FUNCPTR factory, Task *task) |
static void | robotSetup (RobotBase *robot) |
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RobotBase () | |
Constructor for a generic robot program. More... | |
virtual | ~RobotBase () |
Free the resources for a RobotBase class. More... | |
RobotBase (const RobotBase &)=delete | |
RobotBase & | operator= (const RobotBase &)=delete |
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Task * | m_task = nullptr |
DriverStation & | m_ds |
IterativeRobot implements a specific type of Robot Program framework, extending the RobotBase class.
The IterativeRobot class is intended to be subclassed by a user creating a robot program.
This class is intended to implement the "old style" default code, by providing the following functions which are called by the main loop, StartCompetition(), at the appropriate times:
RobotInit() – provide for initialization at robot power-on
Init() functions – each of the following functions is called once when the appropriate mode is entered:
Periodic() functions – each of these functions is called iteratively at the appropriate periodic rate (aka the "slow loop"). The default period of the iterative robot is synced to the driver station control packets, giving a periodic frequency of about 50Hz (50 times per second).
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Initialization code for autonomous mode should go here.
Users should override this method for initialization code which will be called each time the robot enters autonomous mode.
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Periodic code for autonomous mode should go here.
Users should override this method for code which will be called periodically at a regular rate while the robot is in autonomous mode.
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Initialization code for disabled mode should go here.
Users should override this method for initialization code which will be called each time the robot enters disabled mode.
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Periodic code for disabled mode should go here.
Users should override this method for code which will be called periodically at a regular rate while the robot is in disabled mode.
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Robot-wide initialization code should go here.
Users should override this method for default Robot-wide initialization which will be called when the robot is first powered on. It will be called exactly one time.
Warning: the Driver Station "Robot Code" light and FMS "Robot Ready" indicators will be off until RobotInit() exits. Code in RobotInit() that waits for enable will cause the robot to never indicate that the code is ready, causing the robot to be bypassed in a match.
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Provide an alternate "main loop" via StartCompetition().
This specific StartCompetition() implements "main loop" behaviour synced with the DS packets
Implements RobotBase.
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Initialization code for teleop mode should go here.
Users should override this method for initialization code which will be called each time the robot enters teleop mode.
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Periodic code for teleop mode should go here.
Users should override this method for code which will be called periodically at a regular rate while the robot is in teleop mode.
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Initialization code for test mode should go here.
Users should override this method for initialization code which will be called each time the robot enters test mode.
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virtual |
Periodic code for test mode should go here.
Users should override this method for code which will be called periodically at a regular rate while the robot is in test mode.