Implement a Robot Program framework. More...

#include <frc/RobotBase.h>

Inheritance diagram for frc::RobotBase:

Public Member Functions
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	IsAutonomousEnabled () const
	Determine if the robot is currently in Autonomous mode and enabled. More...

bool	IsTeleop () const
	Determine if the robot is currently in Operator Control mode. More...

bool	IsTeleopEnabled () const
	Determine if the robot is current in Operator Control mode and enabled. More...

bool	IsTest () const
	Determine if the robot is currently in Test mode. More...

bool	IsTestEnabled () const
	Determine if the robot is current in Test mode and enabled. More...

virtual void	StartCompetition ()=0

virtual void	EndCompetition ()=0

	RobotBase ()
	Constructor for a generic robot program. More...

virtual	~RobotBase ()=default

Static Public Member Functions
static std::thread::id	GetThreadId ()
	Gets the ID of the main robot thread. More...

static RuntimeType	GetRuntimeType ()
	Get the current runtime type. More...

static constexpr bool	IsReal ()
	Get if the robot is real. More...

static constexpr bool	IsSimulation ()
	Get if the robot is a simulation. More...

Protected Member Functions
	RobotBase (RobotBase &&)=default

RobotBase &	operator= (RobotBase &&)=default

Static Protected Attributes
static std::thread::id	m_threadId

Detailed Description

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.

Constructor & Destructor Documentation

◆ RobotBase() [1/2]

frc::RobotBase::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.

◆ ~RobotBase()

virtual frc::RobotBase::~RobotBase ( )

virtualdefault

◆ RobotBase() [2/2]

frc::RobotBase::RobotBase ( RobotBase && )

protecteddefault

Member Function Documentation

◆ EndCompetition()

virtual void frc::RobotBase::EndCompetition ( )

pure virtual

Implemented in frc::TimedRobot.

◆ GetRuntimeType()

static RuntimeType frc::RobotBase::GetRuntimeType ( )

static

Get the current runtime type.

Returns: Current runtime type.

◆ GetThreadId()

static std::thread::id frc::RobotBase::GetThreadId ( )

static

Gets the ID of the main robot thread.

◆ IsAutonomous()

bool frc::RobotBase::IsAutonomous ( ) const

Determine if the robot is currently in Autonomous mode.

Returns: True if the robot is currently operating Autonomously as determined by the Driver Station.

◆ IsAutonomousEnabled()

bool frc::RobotBase::IsAutonomousEnabled ( ) const

Determine if the robot is currently in Autonomous mode and enabled.

Returns: True if the robot us currently operating Autonomously while enabled as determined by the Driver Station.

◆ IsDisabled()

bool frc::RobotBase::IsDisabled ( ) const

Determine if the Robot is currently disabled.

Returns: True if the Robot is currently disabled by the Driver Station.

◆ IsEnabled()

bool frc::RobotBase::IsEnabled ( ) const

Determine if the Robot is currently enabled.

Returns: True if the Robot is currently enabled by the Driver Station.

◆ IsReal()

static constexpr bool frc::RobotBase::IsReal ( )

inlinestaticconstexpr

Get if the robot is real.

Returns: If the robot is running in the real world.

◆ IsSimulation()

static constexpr bool frc::RobotBase::IsSimulation ( )

inlinestaticconstexpr

Get if the robot is a simulation.

Returns: If the robot is running in simulation.

◆ IsTeleop()

bool frc::RobotBase::IsTeleop ( ) const

Determine if the robot is currently in Operator Control mode.

Returns: True if the robot is currently operating in Tele-Op mode as determined by the Driver Station.

◆ IsTeleopEnabled()

bool frc::RobotBase::IsTeleopEnabled ( ) const

Determine if the robot is current in Operator Control mode and enabled.

Returns: True if the robot is currently operating in Tele-Op mode while enabled as determined by the Driver Station.

◆ IsTest()

bool frc::RobotBase::IsTest ( ) const

Determine if the robot is currently in Test mode.

Returns: True if the robot is currently running in Test mode as determined by the Driver Station.

◆ IsTestEnabled()

bool frc::RobotBase::IsTestEnabled ( ) const

Determine if the robot is current in Test mode and enabled.

Returns: True if the robot is currently operating in Test mode while enabled as determined by the Driver Station.

◆ operator=()

RobotBase & frc::RobotBase::operator= ( RobotBase && )