Class OpModeRobot

java.lang.Object

org.wpilib.framework.RobotBase

org.wpilib.framework.OpModeRobot

All Implemented Interfaces:

AutoCloseable

public abstract class OpModeRobot
extends RobotBase

OpModeRobot implements the opmode-based robot program framework.

The OpModeRobot class is intended to be subclassed by a user creating a robot program.

Classes annotated with Autonomous, Teleop, and TestOpMode in the same package or subpackages as the user's subclass will be automatically registered as autonomous, teleop, and test opmodes respectively.

Opmodes are constructed when selected on the driver station, and closed/no longer used 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.

Constructor Summary

Constructors

Constructor	Description
OpModeRobot()	Constructor.

Method Summary

Modifier and Type	Method	Description
void	addAnnotatedOpMode(Class<? extends OpMode> cls)	Adds an opmode for an opmode class annotated with Autonomous, Teleop, or TestOpMode.
void	addAnnotatedOpModeClasses(Package pkg)	Scans for classes in the specified package and all nested packages that are annotated with Autonomous, Teleop, or TestOpMode and registers them.
void	addOpMode(Class<? extends OpMode> cls, RobotMode mode, String name)	Adds an opmode for an opmode class.
void	addOpMode(Class<? extends OpMode> cls, RobotMode mode, String name, String group)	Adds an opmode for an opmode class.
void	addOpMode(Class<? extends OpMode> cls, RobotMode mode, String name, String group, String description)	Adds an opmode for an opmode class.
void	addOpMode(Class<? extends OpMode> cls, RobotMode mode, String name, String group, String description, Color textColor, Color backgroundColor)	Adds an opmode for an opmode class.
void	addOpModeFactory(Supplier<OpMode> factory, RobotMode mode, String name)	Adds an opmode using a factory function that creates the opmode.
void	addOpModeFactory(Supplier<OpMode> factory, RobotMode mode, String name, String group)	Adds an opmode using a factory function that creates the opmode.
void	addOpModeFactory(Supplier<OpMode> factory, RobotMode mode, String name, String group, String description)	Adds an opmode using a factory function that creates the opmode.
void	addOpModeFactory(Supplier<OpMode> factory, RobotMode mode, String name, String group, String description, Color textColor, Color backgroundColor)	Adds an opmode using a factory function that creates the opmode.
void	clearOpModes()	Clears all operating mode options and publishes an empty list to the driver station.
void	driverStationConnected()	Function called exactly once after the DS is connected.
final void	endCompetition()	Ends the main loop in startCompetition().
void	nonePeriodic()	Function called periodically anytime when no opmode is selected, including when the Driver Station is disconnected.
void	publishOpModes()	Publishes the operating mode options to the driver station.
void	removeOpMode(RobotMode mode, String name)	Removes an operating mode option.
final void	startCompetition()	Provide an alternate "main loop" via startCompetition().

Methods inherited from class RobotBase

close, getMainThreadId, getOpMode, getOpModeId, getRuntimeType, isAutonomous, isAutonomousEnabled, isDisabled, isEnabled, isReal, isSimulation, isTeleop, isTeleopEnabled, isTest, isTestEnabled, startRobot, suppressExitWarning

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

OpModeRobot

public OpModeRobot()

Constructor.

Method Details

addOpModeFactory

public void addOpModeFactory(Supplier<OpMode> factory,
 RobotMode mode,
 String name,
 String group,
 String description,
 Color textColor,
 Color backgroundColor)

Adds an opmode using a factory function that creates the opmode. It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

factory - factory function to create the opmode

mode - robot mode

name - name of the operating mode

group - group of the operating mode

description - description of the operating mode

textColor - text color, or null for default

backgroundColor - background color, or null for default

Throws:

IllegalArgumentException - if class does not meet criteria

addOpModeFactory

public void addOpModeFactory(Supplier<OpMode> factory,
 RobotMode mode,
 String name,
 String group,
 String description)

Adds an opmode using a factory function that creates the opmode. It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

factory - factory function to create the opmode

mode - robot mode

name - name of the operating mode

group - group of the operating mode

description - description of the operating mode

Throws:

IllegalArgumentException - if class does not meet criteria

addOpModeFactory

public void addOpModeFactory(Supplier<OpMode> factory,
 RobotMode mode,
 String name,
 String group)

Adds an opmode using a factory function that creates the opmode. It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

factory - factory function to create the opmode

mode - robot mode

name - name of the operating mode

group - group of the operating mode

Throws:

IllegalArgumentException - if class does not meet criteria

addOpModeFactory

public void addOpModeFactory(Supplier<OpMode> factory,
 RobotMode mode,
 String name)

Adds an opmode using a factory function that creates the opmode. It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

factory - factory function to create the opmode

mode - robot mode

name - name of the operating mode

Throws:

IllegalArgumentException - if class does not meet criteria

addOpMode

public void addOpMode(Class<? extends OpMode> cls,
 RobotMode mode,
 String name,
 String group,
 String description,
 Color textColor,
 Color backgroundColor)

Adds an opmode for an opmode class. The class must be a public, non-abstract subclass of OpMode with a public constructor that either takes no arguments or accepts a single argument of this class's type (the latter is preferred). It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

cls - class to add

mode - robot mode

name - name of the operating mode

group - group of the operating mode

description - description of the operating mode

textColor - text color, or null for default

backgroundColor - background color, or null for default

Throws:

IllegalArgumentException - if class does not meet criteria

addOpMode

public void addOpMode(Class<? extends OpMode> cls,
 RobotMode mode,
 String name,
 String group,
 String description)

Adds an opmode for an opmode class. The class must be a public, non-abstract subclass of OpMode with a public constructor that either takes no arguments or accepts a single argument of this class's type (the latter is preferred). It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

cls - class to add

mode - robot mode

name - name of the operating mode

group - group of the operating mode

description - description of the operating mode

Throws:

IllegalArgumentException - if class does not meet criteria

addOpMode

public void addOpMode(Class<? extends OpMode> cls,
 RobotMode mode,
 String name,
 String group)

Adds an opmode for an opmode class. The class must be a public, non-abstract subclass of OpMode with a public constructor that either takes no arguments or accepts a single argument of this class's type (the latter is preferred). It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

cls - class to add

mode - robot mode

name - name of the operating mode

group - group of the operating mode

Throws:

IllegalArgumentException - if class does not meet criteria

addOpMode

public void addOpMode(Class<? extends OpMode> cls,
 RobotMode mode,
 String name)

Adds an opmode for an opmode class. The class must be a public, non-abstract subclass of OpMode with a public constructor that either takes no arguments or accepts a single argument of this class's type (the latter is preferred). It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

cls - class to add

mode - robot mode

name - name of the operating mode

Throws:

IllegalArgumentException - if class does not meet criteria

addAnnotatedOpMode

public void addAnnotatedOpMode(Class<? extends OpMode> cls)

Adds an opmode for an opmode class annotated with Autonomous, Teleop, or TestOpMode. The class must be a public, non-abstract subclass of OpMode with a public constructor that either takes no arguments or accepts a single argument of this class's type. It's necessary to call publishOpModes() to make the added mode visible to the driver station.

Parameters:

cls - class to add

Throws:

IllegalArgumentException - if class does not meet criteria

addAnnotatedOpModeClasses

public void addAnnotatedOpModeClasses(Package pkg)

Scans for classes in the specified package and all nested packages that are annotated with Autonomous, Teleop, or TestOpMode and registers them. It's necessary to call publishOpModes() to make the added modes visible to the driver station.

Parameters:

pkg - package to scan

removeOpMode

public void removeOpMode(RobotMode mode,
 String name)

Removes an operating mode option. It's necessary to call publishOpModes() to make the removed mode no longer visible to the driver station.

Parameters:

mode - robot mode

name - name of the operating mode

publishOpModes

public void publishOpModes()

Publishes the operating mode options to the driver station.

clearOpModes

public void clearOpModes()

Clears all operating mode options and publishes an empty list to the driver station.

driverStationConnected

public void driverStationConnected()

Function called exactly once after the DS is connected.

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.

nonePeriodic

public void nonePeriodic()

Function called periodically anytime when no opmode is selected, including when the Driver Station is disconnected.

startCompetition

public final void startCompetition()

Provide an alternate "main loop" via startCompetition().

Specified by:

startCompetition in class RobotBase

endCompetition

public final void endCompetition()

Ends the main loop in startCompetition().

Specified by:

endCompetition in class RobotBase