WPILibC++  2020.3.2-60-g3011ebe
frc::Scheduler Class Reference
Inheritance diagram for frc::Scheduler:
frc::ErrorBase frc::Sendable frc::SendableHelper< Scheduler >

Public Member Functions

void AddCommand (Command *command)
 Add a command to be scheduled later. More...
 
void AddButton (ButtonScheduler *button)
 
void RegisterSubsystem (Subsystem *subsystem)
 Registers a Subsystem to this Scheduler, so that the Scheduler might know if a default Command needs to be run. More...
 
void Run ()
 Runs a single iteration of the loop. More...
 
void Remove (Command *command)
 Removes the Command from the Scheduler. More...
 
void RemoveAll ()
 
void ResetAll ()
 Completely resets the scheduler. More...
 
void SetEnabled (bool enabled)
 
void InitSendable (SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (const ErrorBase &)=default
 
ErrorBaseoperator= (const ErrorBase &)=default
 
 ErrorBase (ErrorBase &&)=default
 
ErrorBaseoperator= (ErrorBase &&)=default
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 Retrieve the current error. More...
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual void SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 
void ClearGlobalErrors ()
 Clear global errors.
 
- Public Member Functions inherited from frc::SendableHelper< Scheduler >
 SendableHelper (const SendableHelper &rhs)=default
 
 SendableHelper (SendableHelper &&rhs)
 
SendableHelperoperator= (const SendableHelper &rhs)=default
 
SendableHelperoperator= (SendableHelper &&rhs)
 
std::string GetName () const
 Gets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &name)
 Sets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &subsystem, const wpi::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 
std::string GetSubsystem () const
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (const wpi::Twine &subsystem)
 Sets the subsystem name of this Sendable object. More...
 

Static Public Member Functions

static SchedulerGetInstance ()
 Returns the Scheduler, creating it if one does not exist. More...
 
- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static Error GetGlobalError ()
 Retrieve the last global error.
 
static std::vector< ErrorGetGlobalErrors ()
 Retrieve all global errors.
 

Additional Inherited Members

- Protected Member Functions inherited from frc::SendableHelper< Scheduler >
void SetName (const wpi::Twine &moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (const wpi::Twine &moduleType, int moduleNumber, int channel)
 Sets the name of the sensor with a module and channel number. More...
 
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 

Member Function Documentation

◆ AddCommand()

void frc::Scheduler::AddCommand ( Command command)

Add a command to be scheduled later.

In any pass through the scheduler, all commands are added to the additions list, then at the end of the pass, they are all scheduled.

Parameters
commandThe command to be scheduled

◆ GetInstance()

static Scheduler* frc::Scheduler::GetInstance ( )
static

Returns the Scheduler, creating it if one does not exist.

Returns
the Scheduler

◆ InitSendable()

void frc::Scheduler::InitSendable ( SendableBuilder builder)
overridevirtual

Initializes this Sendable object.

Parameters
buildersendable builder

Implements frc::Sendable.

◆ RegisterSubsystem()

void frc::Scheduler::RegisterSubsystem ( Subsystem subsystem)

Registers a Subsystem to this Scheduler, so that the Scheduler might know if a default Command needs to be run.

All Subsystems should call this.

Parameters
systemthe system

◆ Remove()

void frc::Scheduler::Remove ( Command command)

Removes the Command from the Scheduler.

Parameters
commandthe command to remove

◆ ResetAll()

void frc::Scheduler::ResetAll ( )

Completely resets the scheduler.

Undefined behavior if running.

◆ Run()

void frc::Scheduler::Run ( )

Runs a single iteration of the loop.

This method should be called often in order to have a functioning Command system. The loop has five stages:

  1. Poll the Buttons
  2. Execute/Remove the Commands
  3. Send values to SmartDashboard
  4. Add Commands
  5. Add Defaults

The documentation for this class was generated from the following file: