|
| | OpModeRobot (wpi::units::second_t period) |
| | Constructor.
|
| | OpModeRobot () |
| | Constructor for an OpModeRobot with a default loop time of 0.02 seconds.
|
| template<ConstructibleOpMode< Derived > T> |
| void | AddOpMode (RobotMode mode, std::string_view name, std::string_view group, std::string_view description, const wpi::util::Color &textColor, const wpi::util::Color &backgroundColor) |
| | Adds an operating mode option.
|
| template<ConstructibleOpMode< Derived > T> |
| void | AddOpMode (RobotMode mode, std::string_view name, std::string_view group={}, std::string_view description={}) |
| | Adds an operating mode option.
|
| void | StartCompetition () override |
| | Provide an alternate "main loop" via StartCompetition().
|
| void | EndCompetition () override |
| | Ends the main loop in StartCompetition().
|
| | OpModeRobotBase (wpi::units::second_t period) |
| | Constructor.
|
| | OpModeRobotBase () |
| | Constructor for an OpModeRobot with a default loop time of 0.02 seconds.
|
| | OpModeRobotBase (OpModeRobotBase &&)=delete |
| OpModeRobotBase & | operator= (OpModeRobotBase &&)=delete |
| virtual void | DriverStationConnected () |
| | Code that needs to know the DS state should go here.
|
| virtual void | RobotPeriodic () |
| | Function called periodically every loop, regardless of enabled state or OpMode selection.
|
| virtual void | SimulationInit () |
| | Function called once during robot initialization in simulation.
|
| virtual void | SimulationPeriodic () |
| | Function called periodically in simulation.
|
| virtual void | DisabledInit () |
| | Function called once when the robot becomes disabled.
|
| virtual void | DisabledPeriodic () |
| | Function called periodically while the robot is disabled.
|
| virtual void | DisabledExit () |
| | Function called once when the robot exits disabled state.
|
| virtual void | NonePeriodic () |
| | Function called periodically anytime when no opmode is selected, including when the Driver Station is disconnected.
|
| void | AddPeriodic (std::function< void()> callback, wpi::units::second_t period) |
| | Add a callback to run at a specific period.
|
| wpi::units::microsecond_t | GetLoopStartTime () const |
| | Return the system clock time in microseconds for the start of the current periodic loop.
|
| void | AddOpModeFactory (OpModeFactory factory, RobotMode mode, std::string_view name, std::string_view group, std::string_view description, const wpi::util::Color &textColor, const wpi::util::Color &backgroundColor) |
| | Adds an operating mode option using a factory function that creates the opmode.
|
| void | AddOpModeFactory (OpModeFactory factory, RobotMode mode, std::string_view name, std::string_view group={}, std::string_view description={}) |
| | Adds an operating mode option using a factory function that creates the opmode.
|
| void | RemoveOpMode (RobotMode mode, std::string_view name) |
| | Removes an operating mode option.
|
| void | PublishOpModes () |
| | Publishes the operating mode options to the driver station.
|
| void | ClearOpModes () |
| | Clears all operating mode options and publishes an empty list to the driver station.
|
| | RobotBase () |
| | Constructor for a generic robot program.
|
| virtual | ~RobotBase ()=default |
|
| using | OpModeFactory = std::function<std::unique_ptr<OpMode>()> |
| 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 | IsUtility () |
| | Determine if the robot is currently in Utility mode.
|
| static bool | IsUtilityEnabled () |
| | Determine if the robot is currently in Utility 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.
|
| static constexpr auto | DEFAULT_PERIOD = 20_ms |
| | Default loop period.
|
| void | LoopFunc () |
| | Main robot loop function.
|
| | RobotBase (RobotBase &&)=default |
| RobotBase & | operator= (RobotBase &&)=default |
| NT_Listener | connListenerHandle |
| static std::thread::id | m_threadId |
template<typename Derived>
class wpi::OpModeRobot< Derived >
OpModeRobot implements the opmode-based robot program framework.
The OpModeRobot class is intended to be subclassed by a user creating a robot program. Users must provide their derived class as a template parameter to this class.
Opmodes are constructed when selected on the driver station, and destroyed when the robot is disabled after being enabled or a different opmode is selected. When no opmode is selected, NonePeriodic() is called. The DriverStationConnected() function is called the first time the driver station connects to the robot.
- Template Parameters
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1.15.0