wpi::IterativeRobotBase Class Reference

IterativeRobotBase implements a specific type of robot program framework, extending the RobotBase class. More...

#include <wpi/framework/IterativeRobotBase.hpp>

Inheritance diagram for wpi::IterativeRobotBase:

Public Member Functions
virtual void	DriverStationConnected ()
	Code that needs to know the DS state should go here.
virtual void	SimulationInit ()
	Robot-wide simulation initialization code should go here.
virtual void	DisabledInit ()
	Initialization code for disabled mode should go here.
virtual void	AutonomousInit ()
	Initialization code for autonomous mode should go here.
virtual void	TeleopInit ()
	Initialization code for teleop mode should go here.
virtual void	TestInit ()
	Initialization code for test mode should go here.
virtual void	RobotPeriodic ()
	Periodic code for all modes should go here.
virtual void	SimulationPeriodic ()
	Periodic simulation code should go here.
virtual void	DisabledPeriodic ()
	Periodic code for disabled mode should go here.
virtual void	AutonomousPeriodic ()
	Periodic code for autonomous mode should go here.
virtual void	TeleopPeriodic ()
	Periodic code for teleop mode should go here.
virtual void	TestPeriodic ()
	Periodic code for test mode should go here.
virtual void	DisabledExit ()
	Exit code for disabled mode should go here.
virtual void	AutonomousExit ()
	Exit code for autonomous mode should go here.
virtual void	TeleopExit ()
	Exit code for teleop mode should go here.
virtual void	TestExit ()
	Exit code for test mode should go here.
void	SetNetworkTablesFlushEnabled (bool enabled)
	Enables or disables flushing NetworkTables every loop iteration.
wpi::units::second_t	GetPeriod () const
	Gets time period between calls to Periodic() functions.
void	PrintWatchdogEpochs ()
	Prints list of epochs added so far and their times.
	IterativeRobotBase (wpi::units::second_t period)
	Constructor for IterativeRobotBase.
	~IterativeRobotBase () override=default
Public Member Functions inherited from wpi::RobotBase
virtual void	StartCompetition ()=0
	Start the main robot code.
virtual void	EndCompetition ()=0
	Ends the main loop in StartCompetition().
	RobotBase ()
	Constructor for a generic robot program.
virtual	~RobotBase ()=default

Protected Member Functions
	IterativeRobotBase (IterativeRobotBase &&)=default
IterativeRobotBase &	operator= (IterativeRobotBase &&)=default
void	LoopFunc ()
	Loop function.
Protected Member Functions inherited from wpi::RobotBase
	RobotBase (RobotBase &&)=default
RobotBase &	operator= (RobotBase &&)=default

Additional Inherited Members
Static Public Member Functions inherited from wpi::RobotBase
static bool	IsEnabled ()
	Determine if the Robot is currently enabled.
static bool	IsDisabled ()
	Determine if the Robot is currently disabled.
static bool	IsAutonomous ()
	Determine if the robot is currently in Autonomous mode.
static bool	IsAutonomousEnabled ()
	Determine if the robot is currently in Autonomous mode and enabled.
static bool	IsTeleop ()
	Determine if the robot is currently in Operator Control mode.
static bool	IsTeleopEnabled ()
	Determine if the robot is current in Operator Control mode and enabled.
static bool	IsTest ()
	Determine if the robot is currently in Test mode.
static bool	IsTestEnabled ()
	Determine if the robot is current in Test mode and enabled.
static int64_t	GetOpModeId ()
	Gets the currently selected operating mode of the driver station.
static std::string	GetOpMode ()
	Gets the currently selected operating mode of the driver station.
static std::thread::id	GetThreadId ()
	Returns the main thread ID.
static RuntimeType	GetRuntimeType ()
	Get the current runtime type.
static constexpr bool	IsReal ()
	Get if the robot is real.
static constexpr bool	IsSimulation ()
	Get if the robot is a simulation.
Protected Attributes inherited from wpi::RobotBase
NT_Listener	connListenerHandle
Static Protected Attributes inherited from wpi::RobotBase
static std::thread::id	m_threadId

Detailed Description

IterativeRobotBase implements a specific type of robot program framework, extending the RobotBase class.

The IterativeRobotBase class does not implement StartCompetition(), so it should not be used by teams directly.

This class provides the following functions which are called by the main loop, StartCompetition(), at the appropriate times:

DriverStationConnected() – provide for initialization the first time the DS is connected

Init() functions – each of the following functions is called once when the appropriate mode is entered:

• DisabledInit() – called each and every time disabled is entered from another mode
• AutonomousInit() – called each and every time autonomous is entered from another mode
• TeleopInit() – called each and every time teleop is entered from another mode
• TestInit() – called each and every time test is entered from another mode

Periodic() functions – each of these functions is called on an interval:

• RobotPeriodic()
• DisabledPeriodic()
• AutonomousPeriodic()
• TeleopPeriodic()
• TestPeriodic()

Exit() functions – each of the following functions is called once when the appropriate mode is exited:

• DisabledExit() – called each and every time disabled is exited
• AutonomousExit() – called each and every time autonomous is exited
• TeleopExit() – called each and every time teleop is exited
• TestExit() – called each and every time test is exited

Constructor & Destructor Documentation

IterativeRobotBase() [1/2]

wpi::IterativeRobotBase::IterativeRobotBase ( wpi::units::second_t period )

explicit

Constructor for IterativeRobotBase.

Parameters

period

Period.

~IterativeRobotBase()

wpi::IterativeRobotBase::~IterativeRobotBase ( )

overridedefault

IterativeRobotBase() [2/2]

wpi::IterativeRobotBase::IterativeRobotBase ( IterativeRobotBase && )

protecteddefault

Member Function Documentation

AutonomousExit()

virtual void wpi::IterativeRobotBase::AutonomousExit ( )

virtual

Exit code for autonomous mode should go here.

Users should override this method for code which will be called each time the robot exits autonomous mode.

AutonomousInit()

virtual void wpi::IterativeRobotBase::AutonomousInit ( )

virtual

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.

AutonomousPeriodic()

virtual void wpi::IterativeRobotBase::AutonomousPeriodic ( )

virtual

Periodic code for autonomous mode should go here.

Users should override this method for code which will be called each time a new packet is received from the driver station and the robot is in autonomous mode.

DisabledExit()

virtual void wpi::IterativeRobotBase::DisabledExit ( )

virtual

Exit code for disabled mode should go here.

Users should override this method for code which will be called each time the robot exits disabled mode.

DisabledInit()

virtual void wpi::IterativeRobotBase::DisabledInit ( )

virtual

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.

DisabledPeriodic()

virtual void wpi::IterativeRobotBase::DisabledPeriodic ( )

virtual

Periodic code for disabled mode should go here.

Users should override this method for code which will be called each time a new packet is received from the driver station and the robot is in disabled mode.

DriverStationConnected()

virtual void wpi::IterativeRobotBase::DriverStationConnected ( )

virtual

Code that needs to know the DS state should go here.

Users should override this method for initialization that needs to occur after the DS is connected, such as needing the alliance information.

GetPeriod()

wpi::units::second_t wpi::IterativeRobotBase::GetPeriod

(

)

const

Gets time period between calls to Periodic() functions.

LoopFunc()

void wpi::IterativeRobotBase::LoopFunc ( )

protected

Loop function.

operator=()

IterativeRobotBase & wpi::IterativeRobotBase::operator= ( IterativeRobotBase && )

protecteddefault

PrintWatchdogEpochs()

void wpi::IterativeRobotBase::PrintWatchdogEpochs

(

)

Prints list of epochs added so far and their times.

RobotPeriodic()

virtual void wpi::IterativeRobotBase::RobotPeriodic ( )

virtual

Periodic code for all modes should go here.

This function is called each time a new packet is received from the driver station.

SetNetworkTablesFlushEnabled()

void wpi::IterativeRobotBase::SetNetworkTablesFlushEnabled

(

bool

enabled

)

Enables or disables flushing NetworkTables every loop iteration.

By default, this is enabled.

Parameters

enabled

True to enable, false to disable

Deprecated

Deprecated without replacement.

SimulationInit()

virtual void wpi::IterativeRobotBase::SimulationInit ( )

virtual

Robot-wide simulation initialization code should go here.

Users should override this method for default Robot-wide simulation related initialization which will be called when the robot is first started. It will be called exactly one time after the robot class constructor is called only when the robot is in simulation.

SimulationPeriodic()

virtual void wpi::IterativeRobotBase::SimulationPeriodic ( )

virtual

Periodic simulation code should go here.

This function is called in a simulated robot after user code executes.

TeleopExit()

virtual void wpi::IterativeRobotBase::TeleopExit ( )

virtual

Exit code for teleop mode should go here.

Users should override this method for code which will be called each time the robot exits teleop mode.

TeleopInit()

virtual void wpi::IterativeRobotBase::TeleopInit ( )

virtual

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.

TeleopPeriodic()

virtual void wpi::IterativeRobotBase::TeleopPeriodic ( )

virtual

Periodic code for teleop mode should go here.

Users should override this method for code which will be called each time a new packet is received from the driver station and the robot is in teleop mode.

TestExit()

virtual void wpi::IterativeRobotBase::TestExit ( )

virtual

Exit code for test mode should go here.

Users should override this method for code which will be called each time the robot exits test mode.

TestInit()

virtual void wpi::IterativeRobotBase::TestInit ( )

virtual

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.

TestPeriodic()

virtual void wpi::IterativeRobotBase::TestPeriodic ( )

virtual

Periodic code for test mode should go here.

Users should override this method for code which will be called each time a new packet is received from the driver station and the robot is in test mode.

---

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

• wpi/framework/IterativeRobotBase.hpp