frc::IterativeRobotBase Class Reference

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

#include <frc/IterativeRobotBase.h>

Inheritance diagram for frc::IterativeRobotBase:

Public Member Functions
virtual void	RobotInit ()
	Robot-wide initialization code should go here.
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.
void	EnableLiveWindowInTest (bool testLW)
	Sets whether LiveWindow operation is enabled during test mode.
bool	IsLiveWindowEnabledInTest ()
	Whether LiveWindow operation is enabled during test mode.
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 (units::second_t period)
	Constructor for IterativeRobotBase.
	~IterativeRobotBase () override=default
Public Member Functions inherited from frc::RobotBase
bool	IsEnabled () const
	Determine if the Robot is currently enabled.
bool	IsDisabled () const
	Determine if the Robot is currently disabled.
bool	IsAutonomous () const
	Determine if the robot is currently in Autonomous mode.
bool	IsAutonomousEnabled () const
	Determine if the robot is currently in Autonomous mode and enabled.
bool	IsTeleop () const
	Determine if the robot is currently in Operator Control mode.
bool	IsTeleopEnabled () const
	Determine if the robot is current in Operator Control mode and enabled.
bool	IsTest () const
	Determine if the robot is currently in Test mode.
bool	IsTestEnabled () const
	Determine if the robot is current in Test mode and enabled.
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 frc::RobotBase
	RobotBase (RobotBase &&)=default
RobotBase &	operator= (RobotBase &&)=default

Additional Inherited Members
Static Public Member Functions inherited from frc::RobotBase
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 frc::RobotBase
NT_Listener	connListenerHandle
bool	m_dashboardDetected = false
Static Protected Attributes inherited from frc::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:

RobotInit() – provide for initialization at robot power-on

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]

frc::IterativeRobotBase::IterativeRobotBase ( units::second_t period )

explicit

Constructor for IterativeRobotBase.

Parameters

period

Period.

~IterativeRobotBase()

frc::IterativeRobotBase::~IterativeRobotBase ( )

overridedefault

IterativeRobotBase() [2/2]

frc::IterativeRobotBase::IterativeRobotBase ( IterativeRobotBase && )

protecteddefault

Member Function Documentation

AutonomousExit()

virtual void frc::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 frc::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 frc::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 frc::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 frc::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 frc::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 frc::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.

EnableLiveWindowInTest()

void frc::IterativeRobotBase::EnableLiveWindowInTest

(

bool

testLW

)

Sets whether LiveWindow operation is enabled during test mode.

Parameters

testLW

True to enable, false to disable. Defaults to false.

Throws:

if called in test mode.

GetPeriod()

units::second_t frc::IterativeRobotBase::GetPeriod

(

)

const

Gets time period between calls to Periodic() functions.

IsLiveWindowEnabledInTest()

bool frc::IterativeRobotBase::IsLiveWindowEnabledInTest

(

)

Whether LiveWindow operation is enabled during test mode.

LoopFunc()

void frc::IterativeRobotBase::LoopFunc ( )

protected

Loop function.

operator=()

IterativeRobotBase & frc::IterativeRobotBase::operator= ( IterativeRobotBase && )

protecteddefault

PrintWatchdogEpochs()

void frc::IterativeRobotBase::PrintWatchdogEpochs

(

)

Prints list of epochs added so far and their times.

RobotInit()

virtual void frc::IterativeRobotBase::RobotInit ( )

virtual

Robot-wide initialization code should go here.

Users should override this method for default Robot-wide initialization which will be called when the robot is first powered on. It will be called exactly one time.

Note: This method is functionally identical to the class constructor so that should be used instead.

RobotPeriodic()

virtual void frc::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 frc::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 frc::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 RobotInit is called only when the robot is in simulation.

SimulationPeriodic()

virtual void frc::IterativeRobotBase::SimulationPeriodic ( )

virtual

Periodic simulation code should go here.

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

TeleopExit()

virtual void frc::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 frc::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 frc::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 frc::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 frc::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 frc::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.

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

• frc/IterativeRobotBase.h